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A Location-Based Algorithm for Multi-hopping State Estimates within a Distributed Robot Team

Julian, Brian J. and Schwager, Mac and Angermann, Michael and 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), 14.-16. Juli, Cambridge, MA, USA.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/62835/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:A Location-Based Algorithm for Multi-hopping State Estimates within a Distributed Robot Team
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Julian, Brian J.CSAIL/MITUNSPECIFIED
Schwager, MacCSAIL/MITUNSPECIFIED
Angermann, MichaelDLRUNSPECIFIED
Rus, DanielaCSAIL/MITUNSPECIFIED
Date:July 2009
Journal or Publication Title:Proceedings of the International Conference on Field and Service Robotics (FSR 09)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:distributed robots, state estimation, multi-hop, flying robot, quadrotor
Event Title:International Conference on Field and Service Robotics (FSR 09)
Event Location:Cambridge, MA, USA
Event Type:international Conference
Event Dates:14.-16. Juli
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W KN - Kommunikation/Navigation
DLR - Research area:Space
DLR - Program:W KN - Kommunikation/Navigation
DLR - Research theme (Project):W - Vorhaben GNSS2/Neue Dienste und Produkte (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Angermann, Dr.-Ing. Michael
Deposited On:26 Jan 2010 10:58
Last Modified:31 Jul 2019 19:27

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