Efficient Control Law Simulation for Multiple Mobile Robots

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In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time ... continued below

Creation Information

Driessen, B. J.; Feddema, J. T.; Kotulski, J. D. & Kwok, K. S. October 6, 1998.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Laboratories, Albuquerque, NM, and Livermore, CA
    Place of Publication: Albuquerque, New Mexico

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Description

In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

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  • 1999 American Control Conference; San Diego, CA; 06/2-4/1999

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  • Other: DE00000761
  • Report No.: SAND98-2240C
  • Grant Number: NONE
  • Office of Scientific & Technical Information Report Number: 761
  • Archival Resource Key: ark:/67531/metadc717844

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  • October 6, 1998

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  • Sept. 29, 2015, 5:31 a.m.

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  • Dec. 7, 2016, 11:02 a.m.

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Driessen, B. J.; Feddema, J. T.; Kotulski, J. D. & Kwok, K. S. Efficient Control Law Simulation for Multiple Mobile Robots, article, October 6, 1998; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc717844/: accessed April 24, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.