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https://hdl.handle.net/20.500.14279/29787
Τίτλος: | Implicit communication in multi-robot systems with limited sensing capabilities | Συγγραφείς: | Loizou, Savvas Constantinou, Nicolas |
Major Field of Science: | Engineering and Technology | Field Category: | Electrical Engineering - Electronic Engineering - Information Engineering | Λέξεις-κλειδιά: | Control-Coding;implicit communication;limited sensing;Multi-robot systems | Ημερομηνία Έκδοσης: | 13-Δεκ-2021 | Πηγή: | 60th IEEE Conference on Decision and Control, CDC 2021, Austin, 13 - 17 December 2021 | Conference: | Proceedings of the IEEE Conference on Decision and Control | Περίληψη: | The method presented in this paper exploits the concept of Control-Coding to enable the implicit transfer of binary information between agents in multi-robot systems. Binary sequences are encoded into the robot's control action by overlaying secondary control signals on top of the primary control signal, thereby forming a controller-encoder pair which simultaneously (i) stabilizes the robot with respect to its control objective, and (ii) transmits information through the motion of the robot. This motion can be detected and decoded by other robots, so as to extract the transmitted information. The effectiveness of the method is demonstrated by simulating a simple coordination task between two unicycles with limited sensing and non-existent communication capabilities. | URI: | https://hdl.handle.net/20.500.14279/29787 | ISBN: | 9781665436595 | ISSN: | 07431546 | DOI: | 10.1109/CDC45484.2021.9682988 | Rights: | © Elsevier B.V. Attribution-NonCommercial-NoDerivatives 4.0 International |
Type: | Conference Papers | Affiliation: | Cyprus University of Technology |
Εμφανίζεται στις συλλογές: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
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