Graph-Theoretic Methods for Multi-Agent Coordination
Author(s)
Advisor(s)
Editor(s)
Collections
Supplementary to:
Permanent Link
Abstract
By ignoring the geometric constraints that inevitably govern inter-robot interactions
in decentralized robot networks, a purely combinatorial description of the network is
obtained. In fact, it can be described as a graph, with vertices corresponding to the individual robots, and edges corresponding to the existence of an inter-robot communication
(or sensing) link. In this note, we report on some of the recent results that have emerged
in the general area of graph-based multi-agent control. Most notably of these might be
the consensus equation that allows us to drive a scalar state value to the same value for
the different robots, in a completely decentralized fashion.
Sponsor
Date
2007-09
Extent
Resource Type
Text
Resource Subtype
Proceedings