Using dynamic processing windows for robot group control

Alá Qadi, Steve Goddard, Jiangyang Huang, Shane Farritor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents a method for determining the feasible processing window for a leader robot that controls a group of follower robots. A processing window is defined as the time interval from the instant the platform starts collecting data to the moment the robot leader finishes planning and communicates with follower robots. The method determines the minimum processing window after considering the different bounds affecting the control of the robot, such as of robot's processing power, robot sensors and the motion of the robots in the group. We present a derivation of the bounds that affect the processing window of the leader robot and an algorithm for determining the feasible window or adjusting the parameters that affect the processing window in case a feasible processing window cannot be achieved because of an overload condition. The application considered in this paper is a group of mobile robots that self deploy, retrieve, and reconfigure barrels to improve the safety of highway construction/maintenance workers.

Original languageEnglish (US)
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages3782-3789
Number of pages8
DOIs
StatePublished - 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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