A Multi-Layer, Multi-Robot Control Architecture for Long-Range, Dynamic Communication Links
A unified motion control architecture is presented for dynamic, long-range multi-robot communications networks, incorporating task abstraction that disassociates goals from implementation. In the task space, communication link states are specified, directly measured, and explicitly controlled yieldi...
Guardado en:
| Autores principales: | , |
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| Formato: | Capítulo de libro |
| Lenguaje: | inglés |
| Publicado: |
IntechOpen
2023
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| Materias: | |
| Acceso en línea: | https://www.intechopen.com/chapters/87461 |
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| Sumario: | A unified motion control architecture is presented for dynamic, long-range multi-robot communications networks, incorporating task abstraction that disassociates goals from implementation. In the task space, communication link states are specified, directly measured, and explicitly controlled yielding well-behaved task state trajectories. The control architecture uses task-level compensation to generate multi-robot formation mobility commands, and a cluster space controller transforms those formation commands to mobility commands for individual robots. The number of robots are selected to meet communications requirements and controlled through a multi-task coordination capability incorporated within the architecture. Robustness to performance commands, system configuration parameters, and external disturbances is demonstrated through a variety of simulations and experiments. These show how robots are dynamically positioned and switched into or out of operation in order to meet communications requirements. |
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| ISBN: | 978-1-83768-276-8 |
| DOI: | 10.5772/intechopen.111825 |