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Decentralized Leader-Follower Control under High Level Goals without Explicit Communication
- Tsiamis, Anastasios (author)
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- Tumova, Jana (author)
- KTH,Reglerteknik,Centrum för Autonoma System, CAS
- Bechlioulis, Charalampos P. (author)
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- Karras, George C. (author)
- Kyriakopoulos, Kostas J. (author)
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- (creator_code:org_t)
- IEEE, 2015
- 2015
- English.
- In: 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS). - : IEEE. - 9781479999941 ; , s. 5790-5795
- Conference paper (peer-reviewed)
Abstract
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- In this paper, we study the decentralized control problem of a two-agent system under local goal specifications given as temporal logic formulas. The agents collaboratively carry an object in a leader-follower scheme and lack means to exchange messages on-line, i. e., to communicate explicitly. Specifically, we propose a decentralized control protocol and a leader re-election strategy that secure the accomplishment of both agents' local goal specifications. The challenge herein lies in exploiting exclusively implicit inter- robot communication that is a natural outcome of the physical interaction of the robots with the object. An illustrative experiment is included clarifying and verifying the approach.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
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