Cooperative Control Of A Robot Swarm With Network Communication Delay

Yechiel Crispin

2005

Abstract

A new method for the cooperative control of a system of multiple mobile robots with time delay in the network communication is presented. The network of mobile robots is modeled as a swarm of particles performing a directed random walk where the motion of the swarm is controlled by a central unit such as a robot leader. The collective motion of the robots is modeled by a system of stochastic delay-difference equations where the best solution found by the swarm is used as the network cooperative control signal. The method is applied to the solution of two problems. In the first problem, a group of autonomous underwater vehicles (AUVs) searches for the maximum depth in a two-dimensional domain. In the second problem, the group of AUVs searches for the minimum temperature in a three-dimensional domain. It is found that the search proceeds along Levy flights followed by sticking short random walks in the vicinity of the extremum points and that the cooperative control method is robust to time delays in network communication.

References

  1. DeSousa, J., Pereira, F.: On coordinated control strategies for networked dynamic control systems: an application to auvs. In: Proceedings of the 15th International Symposium of Mathematical Theory of Networks and Systems. (2002)
  2. Sperazon, A.: On Control Under Com-munication Constraints in Autonomous Multi-Robot Systems. Licentiate Thesis, KTH Signals, Sensors and Systems, Royal Institute of Technology, Stockholm, Sweden (2004)
  3. J. Silva, A. Speranzon, J.D., Johansson, K.: Hierarchical search strategy for a team of autonomous vehicles. In: IFAC. (2004)
  4. E. Burian, D. Yoerger, A.B., Singh, H.: Gradient search with autonomous under-water vehicles using scalar measurements. In: IEEE Symposium on Autonomous Underwater Vehicle Technology, IEEE (1996)
  5. Bachmayer, R., Leonard, N.: Vehicle networks for gradient descent in a sampled environment. In: Proceedings of the 41st IEEE Conference on Decision and Control, IEEE (2002)
  6. E. Bonabeau, M.D., Theraulaz, G.: Swarm Intelligence, From Natural to Artificial Systems. Santa Fe Institute in the Sciences of Complexity, Oxford University Press, New York (1999)
  7. M. Dorigo, G.D., Gambardella, L.: Ant algorithms for discrete optimization. In: Artificial Life, Vol.5, pp.137-172 (1999)
  8. Eberhart, R., Kennedy, J.: A new optimizer using particle swarm theory. In: Proceedings of the 6th Symposium on Micro Machine and Human Science, IEEE Service Center (1995)
  9. J. Kennedy, R.E., Shi, Y.: Swarm Intelligence. Morgan Kaufman Publishers, San Francisco (2001)
  10. Parsopoulos, K., Vrahatis, M.: Recent approaches to global optimization problems through particle swarm optimization. In: Natural Computing, Vol.1, pp.235-306, 2002. (2002)
  11. T.H. Solomon, E.W., Swinney, H.: Observation of anomalous diffusion and levy flights in a two-dimensional rotating flow. In: Physical Review Letters, Vol.71, p.3975, APS (1993)
  12. T.H. Solomon, E.W., Swinney, H.: Chaotic advection in a two-dimensional flow: Levy flights and anomalous diffusion. In: Physica D, 76,pp.70-84. (1994)
  13. E.R. Weeks, J.U., Swinney, H.: Anomalous diffusion in asymmetric random walks with a quasi-geostrophic flow example. In: Physica D, 97, pp.291-310. (1996)
  14. Weeks, E., Swinney, H.: Anomalous diffusion resulting from strongly asymmetric random walks. In: Physical Review E, 57, 5, pp.4915-4920, APS (1998)
  15. M.F. Schlesinger, G.Z., (eds), U.F.: Levy Flights and Related Topics in Physics. SpringerVerlag, Berlin (1995)
Download


Paper Citation


in Harvard Style

Crispin Y. (2005). Cooperative Control Of A Robot Swarm With Network Communication Delay . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 3-14. DOI: 10.5220/0001193400030014


in Bibtex Style

@conference{mars05,
author={Yechiel Crispin},
title={Cooperative Control Of A Robot Swarm With Network Communication Delay},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},
year={2005},
pages={3-14},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001193400030014},
isbn={972-8865-34-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - Cooperative Control Of A Robot Swarm With Network Communication Delay
SN - 972-8865-34-1
AU - Crispin Y.
PY - 2005
SP - 3
EP - 14
DO - 10.5220/0001193400030014