In this paper we study motion coordination problems for groups of robots that exchange information through a rate-constrained communication network. For one-dimensional rendezvous and deployment problems with communication path graphs, we propose an integrated control and communication scheme combining a logarithmic coder/decoder with linear coordination algorithms. We show that the closed-loop performance is comparable to the one achievable in the quantization-free model: the time complexity is unchanged and the exponential convergence factor degrades smoothly as the quantization accuracy becomes coarser.
QUANTIZED COORDINATION ALGORITHMS FOR RENDEZVOUS AND DEPLOYMENT
CARLI, RUGGERO;
2009
Abstract
In this paper we study motion coordination problems for groups of robots that exchange information through a rate-constrained communication network. For one-dimensional rendezvous and deployment problems with communication path graphs, we propose an integrated control and communication scheme combining a logarithmic coder/decoder with linear coordination algorithms. We show that the closed-loop performance is comparable to the one achievable in the quantization-free model: the time complexity is unchanged and the exponential convergence factor degrades smoothly as the quantization accuracy becomes coarser.File in questo prodotto:
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