Cooperative target convergence using multiple agents

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Description

This work considers the problem of causing multiple (100`s) autonomous mobile robots to converge to a target and provides a follow-the-leader approach to the problem. Each robot has only a limited-range sensor for sending the target and also larger but also limited-range robot-to-robot communication capability. Because of the small amount of information available to the robots, a practical approach to improve convergence to the target is to have a robot follow the robot with the best quality of information. Specifically, each robot emits a signal that informs in-range robots what its status is. A robot has a status value of ... continued below

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9 p.

Creation Information

Kwok, K.S. & Driessen, B.J. October 1, 1997.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This work considers the problem of causing multiple (100`s) autonomous mobile robots to converge to a target and provides a follow-the-leader approach to the problem. Each robot has only a limited-range sensor for sending the target and also larger but also limited-range robot-to-robot communication capability. Because of the small amount of information available to the robots, a practical approach to improve convergence to the target is to have a robot follow the robot with the best quality of information. Specifically, each robot emits a signal that informs in-range robots what its status is. A robot has a status value of 0 if it is itself in range of the target. A robot has a status of 1 if it is not in range of the target but is in communication range of a robot that is in range of the target. A robot has a status of 2 if it is not in range of the target but is within range of another robot that has status 1, and so on. Of all the mobile robots that any given robot is in range of, it follows the one with the best status. The emergent behavior is the ant-like trails of robots following each other toward the target. If the robot is not in range of another robot that is either in range of the target or following another robot, the robot will assign-1 to its quality-of-information, and will execute an exhaustive search. The exhaustive search will continue until it encounters either the target or another robot with a nonnegative quality-of-information. The quality of information approach was extended to the case where each robot only has two-bit signals informing it of distance to in-range robots.

Physical Description

9 p.

Notes

INIS; OSTI as DE98000342

Source

  • SPIE`s intelligent systems and advanced manufacturing symposium: microrobotics and microsystem fabrication conference, Pittsburgh, PA (United States), 14-17 Oct 1997

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  • Other: DE98000342
  • Report No.: SAND--97-1975C
  • Report No.: CONF-971086--
  • Grant Number: AC04-94AL85000
  • DOI: 10.2172/563266 | External Link
  • Office of Scientific & Technical Information Report Number: 563266
  • Archival Resource Key: ark:/67531/metadc697900

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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Creation Date

  • October 1, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

Description Last Updated

  • May 5, 2016, 8:01 p.m.

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Kwok, K.S. & Driessen, B.J. Cooperative target convergence using multiple agents, report, October 1, 1997; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc697900/: accessed October 21, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.