Motion coordination with distribution information
Motion coordination with distribution information
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DOI：
10.1109/mcs.2007.384124
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发表时间：
2007-08-01
影响因子：
5.7
通讯作者：
Bullo, Francesco
中科院分区：
文献类型：
--
作者：
Martinez, Sonia;Cortes, Jorge;Bullo, Francesco
运动协调是生物系统中的一种显着现象，对于车辆组、移动传感器和嵌入式机器人系统来说也是一种极其有用的工具。对于许多应用程序，移动自主代理团队需要能够在一个区域内部署、采用指定的模式、在公共点会合或以同步方式移动。本文的目的是说明如何使用系统理论来分析动物群体中的突发行为并设计自主且可靠的机器人网络。我们介绍并调查了一些最近开发的理论工具，用于连续和离散时间的运动协调算法的建模、分析和设计。我们特别关注协调算法的分布式特征、其性能的表征以及为移动网络提供可证明正确的协作策略的设计方法的开发。
Motion coordination is a remarkable phenomenon in biological systems and an extremely useful tool for groups of vehicles, mobile sensors, and embedded robotic systems. For many applications, teams of mobile autonomous agents need the ability to deploy over a region, assume a specified pattern, rendezvous at a common point, or move in a synchronized manner. The objective of this article is to illustrate the use of systems theory to analyze emergent behaviors in animal groups and to design autonomous and reliable robotic networks. We present and survey some recently developed theoretical tools for modeling, analysis, and design of motion coordination algorithms in both continuous and discrete time. We pay special attention to the distributed character of coordination algorithms, the characterization of their performance, and the development of design methodologies that provide mobile networks with provably correct cooperative strategies.