Abstract
We describe distributed estimation algorithms that allow robots in a communication network to maintain estimates of summary statistics describing the shape of the swarm. We show that these estimators, combined with motion controllers implemented on each robot, result in the swarm formation statistics being driven to desired values in the presence of a changing network topology and the addition and deletion of robots
Keywords
Swarm behaviourEstimatorSwarm roboticsRobotComputer scienceEstimationNetwork topologyControl (management)Topology (electrical circuits)Mathematical optimizationStatisticsArtificial intelligenceMathematicsEngineeringComputer network
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Publication Info
- Year
- 2006
- Type
- article
- Pages
- 7 pp.-7 pp.
- Citations
- 109
- Access
- Closed
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Cite This
Randy A. Freeman,
Peng Yang,
Kevin Lynch
(2006).
Distributed estimation and control of swarm formation statistics.
, 7 pp.-7 pp..
https://doi.org/10.1109/acc.2006.1655446
Identifiers
- DOI
- 10.1109/acc.2006.1655446