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IROS
2007
IEEE

A scalable distributed algorithm for shape transformation in multi-robot systems

14 years 5 months ago
A scalable distributed algorithm for shape transformation in multi-robot systems
Abstract— Distributed reconfiguration is an important problem in multi-robot systems such as mobile sensor nets and metamorphic robot systems. In this work, we present a scalable distributed reconfiguration algorithm, Hierarchical Median Decomposition, to achieve arbitrary target configurations. Our algorithm is built on top of a novel distributed median consensus estimator. The algorithms presented are fully distributed and do not require global communication. We show results from simulations in an open source multi-robot simulator.
Ram Ravichandran, G. Gordon, Seth Copen Goldstein
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Ram Ravichandran, G. Gordon, Seth Copen Goldstein
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