Title:
Automatic Deployment and Formation Control of Decentralized Multi-Agent Networks
Automatic Deployment and Formation Control of Decentralized Multi-Agent Networks
Author(s)
Smith, Brian Stephen
Egerstedt, Magnus B.
Howard, Ayanna M.
Egerstedt, Magnus B.
Howard, Ayanna M.
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Abstract
Novel tools are needed to deploy multi-agent
networks in applications that require a high degree of accuracy
in the achievement and maintenance of geometric formations.
This is the case when deploying distributed sensing devices
across large spatial domains. Through so-called Embedded
Graph Grammars (EGGs), this paper develops a method for
automatically generating control programs that ensure that
a multi-robot network is deployed according to the desired
configuration. This paper presents a communication protocol
needed for implementing and executing the control programs
in an accurate and deadlock-free manner.
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Date Issued
2008-05
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Text
Resource Subtype
Proceedings