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.

Subject Categories:

  • Computer Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE