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Paper WeB04.3

Kassir, Abdallah (ACFR, The University of Sydney), Fitch, Robert (University of Sydney), Sukkarieh, Salah (University of Sydney)

Decentralised Information Gathering with Communication Costs

Scheduled for presentation during the Regular Session "Networked Robots" (WeB04), Wednesday, May 16, 2012, 11:00−11:15, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Networked Robots, Distributed Robot Systems, Robust/Adaptive Control of Robotic Systems

Abstract

Advantages of decentralised decision making systems for multi-agent robotic tasks are limited by the heavy demand they impose on communication. This paper presents an approach to control communication for the LQ team problem, namely a team of agents with linear dynamics and quadratic team cost. Communication costs are added to the objective of the LQ optimal control linear matrix inequality formulation, allowing for a well-defined balancing of communication costs and team performance. Results show a reduction in communication consistent with the specified cost and in a manner that upholds team performance relative to the reduced communication footprint. The applicability of the approach has also been extended to information gathering tasks through local LQ approximations along the agentsí paths. Simulation testing on a sample two-agent problem shows a 40% reduction in communication with negligible impact on performance.

 

 

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