Panerati, Jacopo, Ramtoula, Benjamin, St-Onge, David, Cao, Yanjun, Kaufmann, Marcel, Cowley, Aidan, Sabattini, Lorenzo et Beltrame, Giovanni.
2022.
« On the communication requirementsof decentralized connectivity control: A field experiment ».
In Distributed Autonomous Robotic Systems : 15th International Symposium (En ligne, June 01-04, 2021)
Coll. « Springer Proceedings in Advanced Robotics », vol. 22.
pp. 95-107.
Springer Cham.
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Résumé
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation can require team-wide connectivity and a carefully designed communication. Several recently proposed decentralized connectivity maintenance approaches exploit elegant algebraic results drawn from spectral graph theory. Yet, these proposals are rarely taken beyond simulations or laboratory implementations. The contribution of this work is two-fold: (i) we describe the full-stack implementation| from hardware to software|of a decentralized control law for robust connectivity maintenance; and (ii) we assess, in the field, our robots' ability to correctly exchange the information required to execute it.
| Type de document: | Compte rendu de conférence |
|---|---|
| Professeur: | Professeur St-Onge, David |
| Affiliation: | Génie mécanique |
| Date de dépôt: | 24 août 2021 13:34 |
| Dernière modification: | 12 juill. 2022 17:55 |
| URI: | https://espace2.etsmtl.ca/id/eprint/23050 |
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