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2007
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Experimental implementation and validation of consensus algorithms on a mobile actuator and sensor network platform

9 years 4 months ago
Experimental implementation and validation of consensus algorithms on a mobile actuator and sensor network platform
— In this paper, we experimentally implement and validate distributed consensus algorithms on a mobile actuator and sensor network platform under directed, possibly switching interaction topologies to explore issues and challenges in distributed multi-vehicle cooperative control. Distributed consensus algorithms are applied to three target applications namely rendezvous, axial alignment, and formation maneuvering. In the rendezvous application, multiple mobile robots simultaneously arrive at a common a priori unknown target location determined through team negotiation. In the axial alignment application, multiple mobile robots collectively align their final positions along a line. In the formation maneuvering application, multiple mobile robots form a rigid geometric shape and maneuver as a group with a given group velocity. The experimental results show the effectiveness and robustness of the consensus algorithms even in the presence of platform physical limitations, packet loss, i...
Wei Ren, Haiyang Chao, William Bourgeous, Nathan S
Added 04 Jun 2010
Updated 04 Jun 2010
Type Conference
Year 2007
Where SMC
Authors Wei Ren, Haiyang Chao, William Bourgeous, Nathan Sorensen, Yangquan Chen
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