Decentralized control for optimizing communication with infeasible regions

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we present a decentralized gradient-based controller that optimizes communication between mobile aerial vehicles and stationary ground sensor vehicles in an environment with infeasible regions. The formulation of our problem as a MIQP is easily implementable, and we show that the addition of a scaling matrix can improve the range of attainable converged solutions by influencing trajectories to move around infeasible regions. We demonstrate the robustness of the controller in 3D simulation with agent failure, and in 10 trials of a multi-agent hardware experiment with quadrotors and ground sensors in an indoor environment. Lastly, we provide analytical guarantees that our controller strictly minimizes a nonconvex cost along agent trajectories, a desirable property for general multi-agent coordination tasks.

Original languageEnglish (US)
Title of host publicationRobotics Research - The 15th International Symposium ISRR
EditorsHenrik I. Christensen, Oussama Khatib
PublisherSpringer Verlag
Pages363-381
Number of pages19
ISBN (Print)9783319293622
DOIs
StatePublished - Jan 1 2017
Externally publishedYes
Event15th International Symposium of Robotics Research, 2011 - Flagstaff, United States
Duration: Dec 9 2011Dec 12 2011

Publication series

NameSpringer Tracts in Advanced Robotics
Volume100
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other15th International Symposium of Robotics Research, 2011
CountryUnited States
CityFlagstaff
Period12/9/1112/12/11

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Gil, S., Prentice, S., Roy, N., & Rus, D. (2017). Decentralized control for optimizing communication with infeasible regions. In H. I. Christensen, & O. Khatib (Eds.), Robotics Research - The 15th International Symposium ISRR (pp. 363-381). (Springer Tracts in Advanced Robotics; Vol. 100). Springer Verlag. https://doi.org/10.1007/978-3-319-29363-9_21