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Presentation
Multi-Robot Boundary Tracking with Phase and Workload Balancing
IEEE/RSJ International Conference on Intelligent Robots and Systems Proceedings: Taipei, Taiwan
  • Michael Boardman, California Polytechnic State University - San Luis Obispo
  • Jeremy Edmonds, California Polytechnic State University - San Luis Obispo
  • Kyle Francis, California Polytechnic State University - San Luis Obispo
  • Christopher M. Clark, California Polytechnic State University - San Luis Obispo
Publication Date
10-18-2010
Abstract

This paper discusses the use of a cooperative multiple robot system as applied to distributed tracking and sampling of a boundary edge. Within this system the boundary edge is partitioned into subsegments, each allocated to a particular robot such that workload is balanced across the robots. Also, to minimize the time between sampling local areas of the boundary edge, it may be desirable to minimize the difference between each robots progression (i.e. phase) along its allocated sub segment of the edge. The paper introduces a new distributed controller that handles both workload and phase balancing. Simulation results are used to illustrate the effectiveness of the controller in an Autonomous Underwater Vehicle (AUV) under ice edge sampling application. Successful results from experimentation with three iRobot Creates are also presented.

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Citation Information
Michael Boardman, Jeremy Edmonds, Kyle Francis and Christopher M. Clark. "Multi-Robot Boundary Tracking with Phase and Workload Balancing" IEEE/RSJ International Conference on Intelligent Robots and Systems Proceedings: Taipei, Taiwan (2010) p. 3321 - 3326
Available at: http://works.bepress.com/cmclark/35/