Decentralized control of cooperative robotic vehicles

Proceedings of SPIE - The International Society for Optical Engineering

Volumn 4364, Issue , 2001, Pages 136-146

  Feddema, John ^a   Schoenwald, David ^a  

^a SANDIA NATIONAL LABORATORIES   (United States)

Author keywords

Cooperative control; Decentralized control; Mobile robotics

Indexed keywords

CONTROL EQUIPMENT; CONTROL THEORY; CONTROLLABILITY; DECENTRALIZED CONTROL; LARGE SCALE SYSTEMS; LYAPUNOV METHODS; MOBILE ROBOTS; MOTION CONTROL; ROBOTICS; SYSTEM STABILITY;

ROBOTIC VEHICLES;

UNMANNED VEHICLES;

EID: 0035759168     PISSN: 0277786X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1117/12.439973     Document Type: Conference Paper

References (31)

1. K. Kosuge, T. Oosumi, M. Satou, K. Chiba, K. Takeo, "Transporation of a Single Object by Two Decentralized-Controlled Nonholonomic Mobile Robots," Proceedings of the 1998 Conference on Robotics & Automation, Leuven, Belgium, May 1998, 2989-2994.
2. H. Yamaguchi, "A Cooperative Hunting Behavior by Mobile Robot Troops," Proceedings of the 1998 Conference on Robotics & Automation, Leuven, Belgium, May 1998, 3204-3209.
3. F.R. Noreils, "Multi-Robot Coordination for Battlefield Strategies," Proceedings of the 1992 IEEE.RSJ International Conference on Intelligent Robots and Systems, Raleigh, NC, July 1992, 1777-1784.
4. D.F. Hougen, M.D. Erickson, P.E. Rybski, S.A. Stoeter, M. Gini, N. Papanikolopoulos, "Autonomous Mobile Robots and Distributed Exploratory Missions," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 221-230.
5. B. Brumitt and M. Hebert, "Experiments in Autonomous Driving with Concurrent Goals and Multiple Vehicles," Proceedings of the 1998 International Conference on Robotics & Automation, Leuven, Belgium, May 1998, pp. 1895-1902.
6. T. Kaga, J. Starke, P. Molnar, M. Schanz, and T. Fukuda, "Dynamic Robot-Target Assignment - Dependence of Recovering from Breakdowns on the Speed of the Selection Process," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 325-334.
7. J.E. Hurtado, R.D. Robinett, C.R. Dohrmann, S.Y. Goldsmith, "Distributed Sensing and Cooperating Control for Swarms of Robotic Vehicles," Proc. IASTED Conference Control & Applications, Honolulu, Hawaii, Aug. 12-14, 1998.
8. J.S. Jennings, G. Whelan, W.F. Evans, "Cooperative Search and Rescue with a Team of Mobile Robots," Proc. IEEE International Conference of Advanced Robotics, Monterey, CA, 1997.
9. S. Goldsmith, J. Feddema, R. Robinett, "Analysis of Decentralized Variable Structure Control for Collective Search by Mobile Robots," SPIE98, Proc. Sensor Fusion and Decentralized Control in Robotic Systems, Boston, November 1-6, 1998.
10. Y. Uny Cao, Alex S. Fukunaga, and Andrew B. Kahng, "Cooperative Mobile Robotics: Antecedents and Directions," Proceedings of the 1995 IEEE/RSJ IROS Conference, 226-234.
11. L.E. Parker, "Current State of the Art in Distributed Autonomous Mobile Robotics," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 3-12.
12. A. Winfield, "Distributed Sensing and Data Collection via Broken Ad Hoc Wireless Connected Networks of Mobile Robots," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 273-282.
13. J.P. Desai, J. Ostrowski, V. Kumar, "Controlling Formations of Multiple Mobile Robots," Proceedings of the 1998 Conference on Robotics & Automation, Leuven, Belgium, May 1998, 2864-2869.
14. J.P. Desai, V. Kumar, J.P. Ostrowski, "Control of Changes in Formation for a Team of Mobile Robots," Proceedings of the 1999 International Conference on Robotics & Automation, Detroit, MI, May 1999, pp. 1556-1561.
15. Q. Chen, and J.Y.S. Luh, "Coordination and Control of a Group of Small Mobile Robots," Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 3, 1994, pp. 2315-2320.
16. H. Yamaguchi, and T. Arai, "Distributed and Autonomous Control Method for Generating Shape of Multiple Mobile Robot Group," Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Vol. 2, 1994, pp.800-807.
17. H. Yamaguchi, J.W. Burdick, "Asymptotic Stabilization of Multiple Nonholonomic Mobile Robots Forming Group Formations," Proceedings of the 1998 Conference on Robotics & Automation, Leuven, Belgium, May 1998, 3573-3580.
18. E. Yoshida, T. Arai, J. Ota, and T. Miki, "Effect of Grouping in Local Communication System of Multiple Mobile Robots," Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Vol. 2, 1994, pp. 808-815.
19. P. Molnar and J. Starke, "Communication Fault Tolerance in Distributed Robotic Systems," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 99-108.
20. F.E. Schneider, D. Wildermuth, H.-L. Wolf "Motion Coordination in Formations of Multiple Robots Using a Potential Field Approach," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 305-314.
21. G. Beni and P. Liang, "Pattern Reconfiguration in Swarms - Convergence of a Distributed Asynchronous and Bounded Iterative Algorithm," IEEE Transactions on Robotics and Automation, Vol. 12, No. 3, June 1996, pp. 485-490.
22. S.I. Roumeliotis and G.A. Bekey, "Distributed Multi-Robot Localization," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 179-188.
23. M. Bozorg, E.M. Nebot, and H.F. Durrant-Whyte, "A Decentralised Navigation Architecture," Proceedings of the 1998 International Conference on Robotics & Automation, Leuven, Belgium, May 1998, pp. 3413-3418.
24. E. Uchibe, M. Asada, K. Hosoda, "Cooperative Behavior Acquisition in Multi Mobile Robots Environment by Reinforcement Learning Based on State Vector Estimation," Proceedings of the 1998 International Conference on Robotics & Automation, Leuven, Belgium, May 1998, pp.1558-1563.
25. D.D. Siljak, Decentralized Control of Complex Systems, Academic Press, 1991.
26. M.E. Sezer and D.D. Siljak, "Robust Stability of Discrete Systems," Int. J. Control, Vol. 48, No. 5, pp. 2055-2063, 1988.
27. G.D. Smith, Numerical Solution of Partial Differential Equations: Finite Difference Methods, Third Edition, Oxford University Press, 1985.
28. C. Lewis, J.T. Feddema, P. Klarer, "Robotic Perimeter Detection System," Proceedings of SPIE Vol. 3577, Boston, MA, November 3-5, 1998, pp. 14-21.
29. J. Feddema, C. Lewis, P. Klarer, "Cooperative Robotic Sentry Vehicles," Proceedings of SPIE Vol. 3839, Boston, MA, September 19-20, 1999.
30. J. Feddema, C. Lewis, R. LaFarge, "Cooperative Sentry Vehicles and Differential GPS Leapfrog," Distributed Autonomous Robotic Systems 4, ed. L.E. Parker, G. Bekey, J. Barhen, Springer-Verlag 2000, pp. 293-302.
31. J.T. Feddema, D.A. Schoenwald, F.J. Oppel, "Decentralized Control of a Collective of Autonomous Robotic Vehicles," Proceedings of the American Control Conference, Arlington, VA, June 25-27, 2001.