Worst-Case Time Complexity of a Lattice Formation Problem
University of California at Santa Barbara Santa Barbara United States
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We consider a formation control problem for a robotic network with limited communication and controlled motion abilities. We propose a novel control structure that organizes the robots in concentric layers and that associates to each layer a local leader. Through a load balancing algorithm on the asynchronous network of layers we allocate the desired number of robots on each layer. A final uniform spreading algorithm leads the robots to a lattice-like formation. This novel distributed communication and control algorithm runs in linear time in the worst case.
- Computer Systems