Decentralized Leader-Follower Control under High Level Goals without Explicit Communication
2015 (English)In: 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE , 2015, 5790-5795 p.Conference paper (Refereed)Text
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
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-185112DOI: 10.1109/IROS.2015.7354199ISI: 000371885405135ScopusID: 2-s2.0-84958191582ISBN: 978-1-4799-9994-1OAI: oai:DiVA.org:kth-185112DiVA: diva2:919020
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 28-OCT 02, 2015, Hamburg, GERMANY
QC 201604122016-04-122016-04-112016-04-13Bibliographically approved