Follow-the-leader Formation Marching Through a Scalable O(log2n) Parallel Architecture.

Colorado Montaño, Julián and Barrientos Cruz, Antonio and Rossi, Claudio and Cerro Giner, Jaime del (2010). Follow-the-leader Formation Marching Through a Scalable O(log2n) Parallel Architecture.. In: "International Conference on Intelligent Robots and Systems (IROS) 2010", 18/10/2010 - 22/10/2010, Taipei, Taiwan. ISBN 978-1-4244-6674-0.

Description

Title: Follow-the-leader Formation Marching Through a Scalable O(log2n) Parallel Architecture.
Author/s:
  • Colorado Montaño, Julián
  • Barrientos Cruz, Antonio
  • Rossi, Claudio
  • Cerro Giner, Jaime del
Item Type: Presentation at Congress or Conference (Article)
Event Title: International Conference on Intelligent Robots and Systems (IROS) 2010
Event Dates: 18/10/2010 - 22/10/2010
Event Location: Taipei, Taiwan
Title of Book: Proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2010
Date: December 2010
ISBN: 978-1-4244-6674-0
Subjects:
Freetext Keywords: Cooperative robotics, Distributed systems, Multi-robot systems, Newton-Euler formulations, Strictly parallel computation, Formation keeping, Convoying
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

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (634kB) | Preview

Abstract

An important topic in the field of Multi Robot Systems focuses on motion coordination and synchronization for formation keeping. Although several works have addressed such problem, little attention has been devoted to study the computational complexity within the framework of large-scale systems. This paper presents our current work on how to achieve high computational performance for systems composed by a large number of robots that must fulfill with a marching and formation task. A scalable Multi-Processor Parallel Architecture is introduced with the purpose of achieving scalability, i.e., computation time of O(log2n) for a n-robots system. Our architecture has been tested onto a multi-processor system and validated against several simulations testing.

More information

Item ID: 7998
DC Identifier: http://oa.upm.es/7998/
OAI Identifier: oai:oa.upm.es:7998
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5649227&tag=1
Deposited by: Memoria Investigacion
Deposited on: 08 Jul 2011 09:37
Last Modified: 20 Apr 2016 16:56
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM