Issues in computational resource allocation in cooperative control

John P. Murphy; Luke M Wachter; Laura E. Ray

1st International ICST Conference on Robot Communication and Coordination

Research Article

Issues in computational resource allocation in cooperative control

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@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2146,
    author={John P. Murphy and Luke M Wachter and Laura E. Ray},
    title={Issues in computational resource allocation in cooperative control},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={Cooperative systems Mobile robot dynamics Mobile robot navigation.},
    doi={10.4108/ICST.ROBOCOMM2007.2146}
}

John P. Murphy
Luke M Wachter
Laura E. Ray
Year: 2010
Issues in computational resource allocation in cooperative control
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2146

John P. Murphy¹^,*, Luke M Wachter²^,*, Laura E. Ray²^,*

1: Thayer School of Engineering, Dartmouth College, Dartmouth College Hanover, NH 03755 USA, Student Member IEEE
2: Thayer School of Engineering, Dartmouth College, Dartmouth College Hanover, NH 03755 USA, Member IEEE

*Contact email: john.p.murphy@dartmouth.edu, luke.wachter@dartmouth.edu, lray@dartmouth.edu

Abstract

This paper considers the problem of computational resource allocation for a team of dynamic mobile robots subject to limited communication and processing bandwidth, and uncertain state information. We describe a robot test bed, the Dynabot, that exhibits these constraints and characterize its information flow and state estimation accuracy. These models are used for simulating formation of a group of Dynabots, while illustrating resource allocation tradeoffs.

Keywords: Cooperative systems Mobile robot dynamics Mobile robot navigation.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2146