Distributed memoryless point convergence algorithm for mobile robots with limited visibility

Ando, Hiroshi; Oasa, Y.; Suzuki, I.; Yamashita, Masafumi

doi:10.1109/70.795787

Cited by 490 publications

(445 citation statements)

References 12 publications

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“…An early reference on distributed algorithms for the formation of geometric patterns is [7]. Regarding the rendezvous problem, that is, the problem of gathering the robots at a common location, an early reference is [8]. A control-Lyapunov function approach to formation control is discussed in [9].…”

Section: Introductionmentioning

confidence: 99%

Network abstract linear programming with application to minimum-time formation control

Notarstefano¹,

Bullo

2007

2007 46th IEEE Conference on Decision and Control

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Abstract-We identify a novel class of distributed optimization problems, namely a networked version of abstract linear programming. For such problems we propose distributed algorithms for networks with various connectivity and/or memory constraints. Finally, we show how various minimum-time formation control problems can be tackled through appropriate geometric examples of abstract linear programs.

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Section: Introductionmentioning

confidence: 99%

Network abstract linear programming with application to minimum-time formation control

Notarstefano¹,

Bullo

2007

2007 46th IEEE Conference on Decision and Control

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“…The work described in [6,7,8,9,10] considers swarms of robots which should self-organize to form a pattern (a line, circle, ...) on a plane or to maintain a formation while marching.…”

Section: Related Workmentioning

confidence: 99%

Maintaining Communication Between an Explorer and a Base Station

Dynia

Kutyłowski

Lorek

et al. 2006

IFIP International Federation for Information Processing

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Abstract. Consider a (robotic) explorer starting an exploration of an unknown terrain from its base station. As the explorer has only limited communication radius, it is necessary to maintain a line of robotic relay stations following the explorer, so that consecutive stations are within the communication radius of each other. This line has to start in the base station and to end at the explorer.In the simple scenario considered here we assume an obstacle-free terrain, so that the shortest connection (the one which needs the smallest number of relay stations) is a straight line. We consider an explorer who goes an arbitrary, typically winding way, and define a very simple, intuitive, fully local, distributed strategy for the relay stationsour GO-TO-THE-MIDDLE strategy -to maintain a line from the base station to the robot as short as possible.Besides the definition of this strategy, we present an analysis of its performance under different assumptions. For the static case we prove a bound on the convergence speed, for the dynamic case we present experimental evaluations that show the quality of our strategy under different types of routes the explorer could use.

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“…(For example, see [1][2][3][4][5][6][7][8][9][10][11][12][13][14] for a recent, representative sample.) In fact, recent research suggests the use of graph-theoretic structures to represent formations, where vertices represent agents, and edges represent specific inter-agent distances to be maintained through decentralized control laws (see [15][16][17][18][19][20][21][22][23][24][25][26]). …”

Section: Introductionmentioning

confidence: 99%

Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints

Smith¹,

Egerstedt²,

Howard³

2007

The Proceedings of First International Conference on Robot Communication and Coordination

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In this paper we present a collection of graphbased methods for determining if a team of mobile robots, subjected to sensor and communication range constraints, can persistently achieve a specified formation. What we mean by this is that the formation, once achieved, will be preserved by the direct maintenance of the smallest subset of all possible pairwise interagent distances. In this context, formations are defined by sets of points separated by distances corresponding to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations. Experimental results are presented that illustrate the operation of the proposed methods on real robot platforms.

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Distributed memoryless point convergence algorithm for mobile robots with limited visibility

Cited by 490 publications

References 12 publications

Network abstract linear programming with application to minimum-time formation control

Network abstract linear programming with application to minimum-time formation control

Maintaining Communication Between an Explorer and a Base Station

Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints

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