An Experimental Study of Time Scales and Stability in Networked Multi-Robot Systems
Name
MichaelISER10NetworkedRobots.pdf
Description
Accepted version
Size
4.57 MB
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Unknown
Checksum (MD5)
6d3434db41c6c6303f7f44ef963c9574
Author(s)
Michael, Nathan
Schwager, Mac
Kumar, Vijay
Rus, Daniela L
Date Issued
2014
Publisher
Springer Berlin Heidelberg
Citation
Michael, Nathan, Schwager, Mac, Kumar, Vijay and Rus, Daniela. 2014. "An Experimental Study of Time Scales and Stability in Networked Multi-Robot Systems."
Version
Author's final manuscript
Abstract
© Springer-Verlag Berlin Heidelberg 2014. This paper considers the effect of network-induced time delays on the stability of distributed controllers for groups of robots. A linear state space model is proposed for analyzing the coupled interaction of the information flow over the network with the dynamics of the robots. It is shown both analytically and experimentally that control gain, network update rate, and communication and control graph topologies are all critical factors determining the stability of the group of robots. Experiments with a group of flying quadrotor robots demonstrate the effect of different control gains for two different control graph topologies.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/978-3-642-28572-1_43
