Optimizing communication in air-ground robot networks using decentralized control

Stephanie Gil, Mac Schwager, Brian J. Julian, Daniela Rus

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

35 Citations (Scopus)

Abstract

We develop a distributed controller to position a team of aerial vehicles in a configuration that optimizes communication-link quality, to support a team of ground vehicles performing a collaborative task.We propose a gradient-based control approach where agents' positions locally minimize a physically motivated cost function. The contributions of this paper are threefold. We formulate of a cost function that incorporates a continuous, physical model of signal quality, SIR. We develop a non-smooth gradient-based controller that positions aerial vehicles to acheive optimized signal quality amongst all vehicles in the system. This controller is provably convergent while allowing for non-differentiability due to agents moving in or out of communication with one another. Lastly, we guarantee that given certain initial conditions or certain values of the control parameters, aerial vehicles will never disconnect the connectivity graph. We demonstrate our controller on hardware experiments using AscTec Hummingbird quadrotors and provide aggregate results over 10 trials. We also provide hardware-in-the-loop and MATALB simulation results, which demonstrate positioning of the aerial vehicles to minimize the cost function H and improve signal-quality amongst all communication links in the ground/air robot team.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages1964-1971
Number of pages8
DOIs
StatePublished - Aug 26 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

Fingerprint

Decentralized control
Robots
Cost functions
Communication
Antennas
Air
Controllers
Telecommunication links
Hardware
Ground vehicles
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Gil, S., Schwager, M., Julian, B. J., & Rus, D. (2010). Optimizing communication in air-ground robot networks using decentralized control. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 1964-1971). [5509622] https://doi.org/10.1109/ROBOT.2010.5509622

Optimizing communication in air-ground robot networks using decentralized control. / Gil, Stephanie; Schwager, Mac; Julian, Brian J.; Rus, Daniela.

2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 1964-1971 5509622.

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

Gil, S, Schwager, M, Julian, BJ & Rus, D 2010, Optimizing communication in air-ground robot networks using decentralized control. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509622, pp. 1964-1971, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509622
Gil S, Schwager M, Julian BJ, Rus D. Optimizing communication in air-ground robot networks using decentralized control. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 1964-1971. 5509622 https://doi.org/10.1109/ROBOT.2010.5509622
Gil, Stephanie ; Schwager, Mac ; Julian, Brian J. ; Rus, Daniela. / Optimizing communication in air-ground robot networks using decentralized control. 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. pp. 1964-1971
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