Accession Number:
AD1005961
Title:
Worst-Case Time Complexity of a Lattice Formation Problem
Descriptive Note:
Conference Paper
Corporate Author:
University of California at Santa Barbara Santa Barbara United States
Personal Author(s):
Report Date:
2006-09-29
Pagination or Media Count:
5.0
Abstract:
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.
Descriptors:
Subject Categories:
- Computer Systems