Quantized coordination algorithms for rendezvous and deployment. (English) Zbl 1192.68845

Carli, Ruggero; Bullo, Francesco

SIAM J. Control Optim. 48, No. 3, 1251-1274 (2009).

Summary: We study motion coordination problems for groups of robots that exchange information through a rate-constrained communication network. For one-dimensional rendezvous and deployment problems with communication path graphs, we propose an integrated control and communication scheme combining a logarithmic coder/decoder with linear coordination algorithms. We show that the closed-loop performance is comparable to that achievable in the quantization-free model: the time complexity is, asymptotically on the size of the network, unchanged, and the exponential convergence factor degrades smoothly as the quantization accuracy becomes coarser.

MSC:

68W15	Distributed algorithms
37B25	Stability of topological dynamical systems
37E05	Dynamical systems involving maps of the interval
94A40	Channel models (including quantum) in information and communication theory

Keywords:

robotic networks; coordination algorithms; quantization