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

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.


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
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