A scalable distributed algorithm for shape transformation in multi-robot systems

Distributed reconfiguration is an important problem in multi-robot systems such as mobile sensor nets and metamorphic robot systems. In this work, we present a scalable distributed reconfiguration algorithm, hierarchical median decomposition, to achieve arbitrary target configurations. Our algorithm is built on top of a novel distributed median consensus estimator. The algorithms presented are fully distributed and do not require global communication. We show results from simulations in an open source multi-robot simulator.

Authors

• Ramprasad Ravichandran
• Geoffrey J. Gordon
• Seth Copen Goldstein

Keywords

• Distributed algorithms
• Shape
• Multirobot systems
• Robot sensing systems
• Intelligent robots
• Mobile robots
• Sensor systems
• Communication system control
• Distributed computing
• USA Councils
• Multi-agent Systems
• Robotic System
• Median Estimates
• Mobile Sensors
• Target Configuration
• Hierarchical Decomposition
• Consensus Estimate
• Large Systems
• Target Location
• Undirected
• Asymptotically Stable
• Sensor Networks
• Lyapunov Function
• Number Of Agents
• Convergence Time
• Midsagittal
• Agent System
• Part Of Algorithm
• Distributed Manner
• Skew-symmetric
• Set Of Agents
• Negative Semi-definite
• Target Shape
• Position Of Agent