FRANÇAIS
A showcase of ÉTS researchers’ publications and other contributions
SEARCH

On the communication requirementsof decentralized connectivity control: A field experiment

Downloads

Downloads per month over past year

Panerati, Jacopo, Ramtoula, Benjamin, St-Onge, David, Cao, Yanjun, Kaufmann, Marcel, Cowley, Aidan, Sabattini, Lorenzo et Beltrame, Giovanni. 2021. « On the communication requirementsof decentralized connectivity control: A field experiment ». In The 15th International Symposium on Distributed Autonomous Robotic Systems (En ligne, June 01-04, 2021)

[thumbnail of St-Onge-D-2021-23050.pdf]
Preview
PDF
St-Onge-D-2021-23050.pdf - Accepted Version
Use licence: All rights reserved to copyright holder.

Download (4MB) | Preview

Abstract

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.

Item Type: Conference proceeding
Professor:
Professor
St-Onge, David
Affiliation: Génie mécanique
Date Deposited: 24 Aug 2021 13:34
Last Modified: 10 Dec 2021 16:08
URI: https://espace2.etsmtl.ca/id/eprint/23050

Actions (login required)

View Item View Item