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Distributed Filtering for Time-Delayed Deployment to Multiple Sites

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 83))

Abstract

We address the synthesis of distributed control policies for a homogeneous robot ensemble assigned to monitor multiple locations. Our approach uses an appropriate macroscopic description of the ensemble dynamics to first identify spurious behaviors exhibited by the ensemble as a result of robot-robot interactions that arise from operating within a shared environment. This macroscopic analysis is then used to design and improve the agent-level control policies and enhance the overall team performance. In particular, we consider the time-delayed task assignment problem where deterministic (or near deterministic) task execution times result in extraneous robot-robot interactions which degrades the ensemble efficiency. The main contribution is a novel approach towards synthesizing distributed filters to smooth out spurious interactions. We validate our distributed filter both in simulation and in actual robotic experiments.

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Authors and Affiliations

  1. Drexel University, Philadelphia, PA, 19104, USA

    T. William Mather, Christopher Braun & M. Ani Hsieh

Authors
  1. T. William Mather
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  2. Christopher Braun
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  3. M. Ani Hsieh
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Corresponding author

Correspondence to T. William Mather .

Editor information

Editors and Affiliations

  1. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Alcherio Martinoli

  2. EPFL STI IMT LSRO, Station 9, Lausanne, 1015, Switzerland

    Francesco Mondada

  3. 430 UCB, Engineering Drive 1111, Boulder, 80309, Colorado, USA

    Nikolaus Correll

  4. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Grégory Mermoud

  5. , Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, 30332, Georgia, USA

    Magnus Egerstedt

  6. , Mechanical Engineering & Mechanics, Drexel University, Randell 115, Chestnut St. 3141, Philadelphia, 19104, Pennsylvania, USA

    M. Ani Hsieh

  7. , Department of Electrical Engineering and, University of Tennessee, Middle Drive 1520, Knoxville, 37996, Tennessee, USA

    Lynne E. Parker

  8. Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, Odense, 5230, Denmark

    Kasper Støy

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© 2013 Springer-Verlag Berlin Heidelberg

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Mather, T.W., Braun, C., Hsieh, M.A. (2013). Distributed Filtering for Time-Delayed Deployment to Multiple Sites. In: Martinoli, A., et al. Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32723-0_22

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  • DOI: https://doi.org/10.1007/978-3-642-32723-0_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32722-3

  • Online ISBN: 978-3-642-32723-0

  • eBook Packages: EngineeringEngineering (R0)

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