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Decentralized Leader-Follower Control under High Level Goals without Explicit Communication
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-4173-2593
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2015 (English)In: 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE , 2015, 5790-5795 p.Conference paper (Refereed)Text
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE , 2015. 5790-5795 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:kth:diva-185112DOI: 10.1109/IROS.2015.7354199ISI: 000371885405135ScopusID: 2-s2.0-84958191582ISBN: 978-1-4799-9994-1OAI: diva2:919020
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 28-OCT 02, 2015, Hamburg, GERMANY

QC 20160412

Available from: 2016-04-12 Created: 2016-04-11 Last updated: 2016-04-13Bibliographically approved

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