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

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

Descripción

Título: Follow-the-leader Formation Marching Through a Scalable O(log2n) Parallel Architecture.
Autor/es:
  • Colorado Montaño, Julián
  • Barrientos Cruz, Antonio
  • Rossi, Claudio
  • Cerro Giner, Jaime del
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: International Conference on Intelligent Robots and Systems (IROS) 2010
Fechas del Evento: 18/10/2010 - 22/10/2010
Lugar del Evento: Taipei, Taiwan
Título del Libro: Proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2010
Fecha: Diciembre 2010
ISBN: 978-1-4244-6674-0
Materias:
Palabras Clave Informales: Cooperative robotics, Distributed systems, Multi-robot systems, Newton-Euler formulations, Strictly parallel computation, Formation keeping, Convoying
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (634kB) | Vista Previa

Resumen

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.

Más información

ID de Registro: 7998
Identificador DC: http://oa.upm.es/7998/
Identificador OAI: oai:oa.upm.es:7998
URL Oficial: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5649227&tag=1
Depositado por: Memoria Investigacion
Depositado el: 08 Jul 2011 09:37
Ultima Modificación: 20 Abr 2016 16:56
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • e-ciencia
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM