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Consensus control for a system of underwater swarm robots
journal contribution
posted on 2010-03-01, 00:00 authored by Matthew JoordensMatthew Joordens, M JamshidiThe control of a swarm of underwater robots requires both a control algorithm and a communication system. Unfortunately, underwater communications is difficult at the best of times and so large time delays and minimal information is a concern. The control system must be able to handle a large number of robots without a master control, i.e., a decentralized control approach. This paper describes Consensus control as a way to decentralize. Consensus control allows each robot to know the final goal and then to decide, based on the position of the other robots, its best move to help achieve the goal.
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IEEE systems journalVolume
4Issue
1Pagination
65 - 73Publisher
IEEELocation
Piscataway, N.J.Publisher DOI
ISSN
1932-8184eISSN
1937-9234Language
engPublication classification
C1 Refereed article in a scholarly journalCopyright notice
2010, IEEEUsage metrics
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