Sensing-based shape formation on modular multi-robot systems: A theoretical study

Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

Volumn 1, Issue , 2008, Pages 72-79

  Yu, Chih Han ^a   Nagpal, Radhika ^a  

^a HARVARD UNIVERSITY   (United States)

Author keywords

Collective dynamics; Convergence; Decentralized control; Graph laplacian; Modular robot; Shape formation

Indexed keywords

ALGORITHMS; AUTONOMOUS AGENTS; DECENTRALIZED CONTROL; MODULAR ROBOTS; MULTI AGENT SYSTEMS; MULTIPURPOSE ROBOTS;

BIO-INSPIRED ALGORITHMS; COLLECTIVE DYNAMICS; CONVERGENCE; DISTRIBUTED CONSENSUS; GRAPH LAPLACIAN; MULTI-AGENT ALGORITHMS; NETWORKED MULTI-AGENT SYSTEMS; SHAPE FORMATION;

ROBOT LEARNING;

EID: 84899949465     PISSN: 15488403     EISSN: 15582914     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. http://www.eecs.harvard.edu/~chyu/aamas08-appdx.pdf.
2. H. Bojinov, A. Casal, and T. Hogg. Emergent structures in modular self-reconfigurable robots. In Proc. of ICRA, 2000.
3. M. Cao, A. S. Morse, and B. D. O. Anderson. Reaching a consensus in a dynamically changing environment: A graphical approach. To appear in SIAM Journal on Control and Optimization.
4. J. A. Fax and R. M. Murray. Information flow and cooperative control of vehicle formations. IEEE Trans. on Automatic Control, 49:1465-1476, 2004.
5. B. Mohar. Eigenvalues, diameter, and mean distance in graphs. Graphs and Combinatorics, 7:53-64, 1991.
6. B. Mohar. The laplacian spectrum of graphs. Graph Theory, Combinatorics, and Applications, 2, 1991.
7. S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tornita, and S. Kokaji. M-tran: Self-reconfigurable modular robotic system. IEEE/'ASME Trans. Mechatron, 7(4):431-441, 2002.
8. R. Olfati-Saber. Flocking for multi-agent dynamic systems: Algorithms and theory. IEEE Trans, on Automatic Control, 51(3):401-420, 2006.
9. R. Olfati-Saber, J. Fax, and R. Murray. Consensus and cooperation in networked multi-agent systems. In Proc. of IEEE, 2007.
10. D. Rus, Z. Butler, K. Kotay, and M. Vona. Self-reconfiguring robots. Communications of the ACM, 45(3):39-45, 2002.
11. E. Seneta. Non-negative Matrices and Markov Chains. Springer Verlag, 1981.
12. W.-M. Shen, M. Krivokon, H. Chiù, J. Everist, M. Rubenstein, and J. Venkatesh. Multimode locomotion for reconfigurable robots. Autonomous Robots, 20(2):165-177, 2006.
13. C.-H. Yu, F.-X. Willems, D. Ingber, and R. Nagpal. Self-organization of environmentally-adaptive shapes on a modular robot. In Proc. of IROS, 2007.