NDLI: Ensemble synthesis of distributed control and communication strategies

Content Provider	IEEE Xplore Digital Library
Author	Mather, T.W. Hsieh, M.A.
Copyright Year	2012
Description	Author affiliation: SAS Laboratory, Mechanical Engineering & Mechanics Department, Drexel University, Philadelphia, PA 19104, USA (Mather, T.W.; Hsieh, M.A.)
Abstract	We present an ensemble framework for the design of distributed control and communication strategies for the dynamic allocation of a team of robots to a set of tasks. In this work, we assume individual robot controllers are sequentially composed of individual task controllers. This assumption enables the representation of the robot ensemble dynamics as a class of stochastic hybrid systems that can be modeled as continuous-time Markov jump processes where feedback strategies can be derived to control the team's distribution across the tasks. Since the distributed implementation of these feedback strategy requires the estimation of certain population variables, we show how the ensemble model can be expanded to incorporate the dynamics of the information exchange. This then enables us to optimize the individual robot control policies to ensure overall system robustness given some likelihood of resource failures. We consider the assignment of a team of homogeneous robots to a collection of spatially distributed tasks and validate our approach via high-fidelity simulations.
Starting Page	4248
Ending Page	4253
File Size	231568
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225048
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Resource management Robot kinematics Navigation Stochastic processes Collision avoidance
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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