Physical Sciences and Mathematics Commons^™

Coordinated Teams Of Reactive Mobile Platforms, J. Sweeney

Computer Science Department Faculty Publication Series

This paper presents techniques for exploiting redundancy in teams of mobile robots. In particular, we address tasks involving the kinematic coordination of several commu- nicating robots. Teams are modeled as highly redundant spatial mechanisms for which multi-objective, concurrent controllers are constructed using a generalization of null- space control. The goal is to develop a methodology in which the robustness and error suppression in a control theoretic substrate can be used to preserve critical prop- erties in teams of reactive robots. The resulting “safe” control options can then be explored while guarantee- ing global compliance with system specifications. The proposed architecture …