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Follow-the-leader Formation Marching Through a Scalable O(log2n) Parallel Architecture.
Citation
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. |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://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 |
