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Paper TuA109.1

Napp, Nils (Univeristy of Washington), Klavins, Eric (University of Washington)

Load Balancing for Multi-Robot Construction

Scheduled for presentation during the Regular Sessions "Cellular and Modular Robots I" (TuA109), Tuesday, May 10, 2011, 08:20−08:35, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Cellular and Modular Robots, Control Architectures and Programming, Robust/Adaptive Control of Robotic Systems

Abstract

In distributed multi-robot construction it is important to set the relative rates at which different construction sites receive raw building materials. Otherwise, subtasks finish at different times introducing unnecessary delays. We present a feedback algorithm to achieve robust load balancing in routing building materials for stochastic, distributed, multi-robot construction systems. We express global behavior in terms of local reactive behavior via {em Guarded Command Programming with Rates} and prove correctness of the load-balancing controller for a wide range of conditions. We adapt a proof from earlier work on controlling Stochastic Chemical Kinetic systems and illustrate the algorithm on the Factory-Floor robotic testbed.

 

 

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