Efficient control law simulation for multiple mobile robots

In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the O(N/sup 2/) cost of each time step. This work therefore uses hierarc...

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Bibliographic Details
Main Authors: Driessen, B.J., Kotulski, J.D., Kwok, K.S., Feddema, J.T.
Format: Conference Proceeding
Language:English
Subjects:
Computational modeling
Contracts
Costs
Distributed control
Laboratories
Mobile robots
Prototypes
Robot control
US Department of Energy
Vehicles
Online Access:Request full text
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Summary:In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the O(N/sup 2/) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.1999.782403