Panerati, Jacopo, Ramtoula, Benjamin, St-Onge, David, Cao, Yanjun, Kaufmann, Marcel, Cowley, Aidan, Sabattini, Lorenzo and 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.
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: | 12 Jul 2022 17:55 |
| URI: | https://espace2.etsmtl.ca/id/eprint/23050 |
Actions (login required)
 |
View Item |