Automatic Deployment and Formation Control of Decentralized Multi-Agent Networks

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IEEE_2008_ICRA_001.pdf (252.71 KB)
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Smith, Brian Stephen
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http://hdl.handle.net/1853/38285
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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2008-05
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