Consensus Control of Distributed Robots Using Direction of Arrival of  Wireless Signals

Parasuraman, Ramviyas; Min, Byung‐Cheol

doi:10.1007/978-3-030-05816-6_2

Cited by 10 publications

(4 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…areas are shown in Figure 4, that use the Robotarium to experimentally validate their algorithms 1 . Through its years of use, the testbed has been used to support research fields like multi-agent model predictive control [13], networked control theory [14] as well as emerging fields like distributed, multiagent machine learning [15]. An unexpected consequence of providing this type of remote-access research testbed to anyone has been a demand from research fields that deal with similar multi-agent problems, such as entomologists testing insect inspired algorithms that produce ensemble dynamics observed in nature.…”

Section: The Demand For and Diverse Usage Of The Robotariummentioning

confidence: 99%

The Robotarium: A Remotely-Accessible, Multi-Robot Testbed for Control Research and Education

Wilson

Egerstedt

2023

IEEE Open J. Control. Syst.

View full text Add to dashboard Cite

In robotic research and education, the cost in terms of money, expertise, and time required to instantiate and maintain robotic testbeds can prevent researchers and educators from including hardware based experimentation in their laboratories and classrooms. This results in robotic algorithms often being validated by low-fidelity simulation due to the complexity and computational demand required by highfidelity simulators. Unfortunately, these simulation environments often neglect real world complexities, such as wheel slip, actuator dynamics, computation time, communication delays, and sensor noise. The Robotarium provides a solution to these problems by providing a state-of-the-art, multi-robot research facility to everyone around the world free of charge for academic and educational purposes. This paper discusses the remote usage of the testbed since its opening in 2017, details the testbeds design, and provides a brief tutorial on how to use it.

show abstract

Section: The Demand For and Diverse Usage Of The Robotariummentioning

confidence: 99%

The Robotarium: A Remotely-Accessible, Multi-Robot Testbed for Control Research and Education

Wilson

Egerstedt

2023

IEEE Open J. Control. Syst.

View full text Add to dashboard Cite

show abstract

“…We implement a typical rendezvous algorithm from [27]. The rendezvous problem here is to make the robots gather together quickly without a specific destination goal point, starting from their random initial positions.…”

Section: A Multi-robot Rendezvousmentioning

confidence: 99%

HeRoSwarm: Fully-Capable Miniature Swarm Robot Hardware Design With Open-Source ROS Support

Starks¹,

Gupta²,

Oruganti³

et al. 2022

Preprint

View full text Add to dashboard Cite

Experiments using large numbers of miniature swarm robots are desirable to teach, study, and test multirobot and swarm intelligence algorithms and their applications. To realize the full potential of a swarm robot, it should be capable of not only motion but also sensing, computing, communication, and power management modules with multiple options. Current swarm robot platforms developed for commercial and academic research purposes lack several of these critical attributes by focusing only on a few of these aspects. Therefore, in this paper, we propose the HeRoSwarm, a fullycapable swarm robot platform with open-source hardware and software support. The proposed robot hardware is a low-cost design with commercial off-the-shelf components that uniquely integrates multiple sensing, communication, and computing modalities with various power management capabilities into a tiny footprint. Moreover, our swarm robot with odometry capability with Robot Operating Systems (ROS) support is unique in its kind. This simple yet powerful swarm robot design has been extensively verified with different prototyping variants and multi-robot experimental demonstrations.

show abstract

“…We will use a distributed consensus algorithm to determine this boundary. Once a robot i advertises the tuple i b = ( i r, i θ) that includes the radius and orientation it wants to have, it broadcasts this to its local neighbors, and each robot then runs a distributed consensus algorithm such as [28] to determine the agreeable radius r * and orientation θ * of the localized workspace centered around the anchor.…”

Section: B Anchor Boundary Consensusmentioning

confidence: 99%

Manhattan Distance Based Voronoi Partitioning for Efficient Multi-robot Coverage

Nair

Guruprasad

2019

Lecture Notes in Electrical Engineering

View full text Add to dashboard Cite

Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial fields in GPS-denied and extreme environments where global localization is unavailable. Coverage algorithms typically assume that the robot positions and the coverage environment are defined in a global reference frame. However, coordinating robot motion and ensuring coverage of the shared convex workspace without global localization is challenging. This paper proposes a novel anchor-oriented coverage (AOC) approach to generate dynamic localized Voronoi partitions based around a common anchor position. We further propose a consensus-based coordination algorithm that achieves agreement on the coverage workspace around the anchor in the robots' relative frames of reference. Through extensive simulations and real-world experiments, we demonstrate that the proposed anchor-oriented approach using localized Voronoi partitioning performs as well as the state-of-the-art coverage controller using GPS.• We propose a novel anchor-oriented coverage tech-

show abstract

Consensus Control of Distributed Robots Using Direction of Arrival of Wireless Signals

Cited by 10 publications

References 33 publications

The Robotarium: A Remotely-Accessible, Multi-Robot Testbed for Control Research and Education

The Robotarium: A Remotely-Accessible, Multi-Robot Testbed for Control Research and Education

HeRoSwarm: Fully-Capable Miniature Swarm Robot Hardware Design With Open-Source ROS Support

Manhattan Distance Based Voronoi Partitioning for Efficient Multi-robot Coverage

Contact Info

Product

Resources

About