Distributed orientation agreement in a group of robots

Navarro Oiza, Iñaki and Matía Espada, Fernando (2012). Distributed orientation agreement in a group of robots. "Autonomous Robots", v. 33 (n. 4); pp. 445-465. ISSN 1573-7527. https://doi.org/10.1007/s10514-012-9300-5.

Description

Title: Distributed orientation agreement in a group of robots
Author/s:
  • Navarro Oiza, Iñaki
  • Matía Espada, Fernando
Item Type: Article
Título de Revista/Publicación: Autonomous Robots
Date: November 2012
ISSN: 1573-7527
Volume: 33
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carried out in simulation and with real robots in order to test the method. Experimental results show that the robots are able to agree on the reference orientation under certain conditions. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.

More information

Item ID: 16025
DC Identifier: http://oa.upm.es/16025/
OAI Identifier: oai:oa.upm.es:16025
DOI: 10.1007/s10514-012-9300-5
Official URL: http://link.springer.com/article/10.1007/s10514-012-9300-5
Deposited by: Biblioteca ETSI Industriales
Deposited on: 27 Jun 2013 08:14
Last Modified: 21 Apr 2016 16:22
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