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Julian, Brian J. und Schwager, Mac und Angermann, Michael und Rus, Daniela (2009) A Location-Based Algorithm for Multi-hopping State Estimates within a Distributed Robot Team. In: Proceedings of the International Conference on Field and Service Robotics (FSR 09). International Conference on Field and Service Robotics (FSR 09), 2009-07-14 - 2009-07-16, Cambridge, MA, USA.
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Kurzfassung
Mutual knowledge of state information among robots is a crucial requirement for solving distributed control problems, such as coverage control of mobile sensing networks. This paper presents a strategy for exchanging state estimates within a robot team. We introduce a deterministic algorithm that broadcasts estimates of nearby robots more frequently than distant ones. We argue that this frequency should be exponentially proportional to an importance function that monotonically decreases with distance between robots. The resulting location-based algorithm increases propagation rates of state estimates in local neighborhoods when compared to simple flooding schemes.
| elib-URL des Eintrags: | https://elib.dlr.de/62835/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||||||||||||
| Titel: | A Location-Based Algorithm for Multi-hopping State Estimates within a Distributed Robot Team | ||||||||||||||||||||
| Autoren: |
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| Datum: | Juli 2009 | ||||||||||||||||||||
| Erschienen in: | Proceedings of the International Conference on Field and Service Robotics (FSR 09) | ||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||
| Open Access: | Ja | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | distributed robots, state estimation, multi-hop, flying robot, quadrotor | ||||||||||||||||||||
| Veranstaltungstitel: | International Conference on Field and Service Robotics (FSR 09) | ||||||||||||||||||||
| Veranstaltungsort: | Cambridge, MA, USA | ||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
| Veranstaltungsbeginn: | 14 Juli 2009 | ||||||||||||||||||||
| Veranstaltungsende: | 16 Juli 2009 | ||||||||||||||||||||
| HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||
| HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||
| HGF - Programmthema: | W KN - Kommunikation/Navigation | ||||||||||||||||||||
| DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||
| DLR - Forschungsgebiet: | W KN - Kommunikation/Navigation | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | W - Vorhaben GNSS2/Neue Dienste und Produkte (alt) | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme | ||||||||||||||||||||
| Hinterlegt von: | Angermann, Dr.-Ing. Michael | ||||||||||||||||||||
| Hinterlegt am: | 26 Jan 2010 10:58 | ||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 19:28 |
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