Title:
Multi-Robot Mixing Using Braids
Multi-Robot Mixing Using Braids
Author(s)
Diaz-Mercado, Yancy
Egerstedt, Magnus B.
Egerstedt, Magnus B.
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Abstract
This paper presents a method for automatically
achieving multi-robot mixing in the sense that the robots follow
predefined paths in a somewhat loose sense while ensuring that their actual movements are rich enough. In particular,
we focus on the mixing problem, where the robots have to interweave their movements, for example to ensure sufficiently
rich pairwise interactions or to cover an area along the path. By formally specifying mixing levels through strings over the
Braid Group, the resulting hybrid system can execute a geometric
interpretation of these strings, where the level of mixing is dictated by the string length. The feasibility of the proposed
approach is illustrated on a particular class of multi-robot systems that cooperatively have to achieve the desired mixing
levels.
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Date Issued
2013-12
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