TY - GEN
T1 - Robot swarming over the Internet
AU - Gilles, Jerome
AU - Sharma, Balaji R.
AU - Ferenc, Will
AU - Kastein, Hannah
AU - Lieu, Lauren
AU - Wilson, Ryan
AU - Huang, Yuan Rick
AU - Bertozzi, Andrea L.
AU - Homchaudhuri, Baisravan
AU - Ramakrishnan, Subramanian
AU - Kumar, Manish
PY - 2012
Y1 - 2012
N2 - We consider cooperative control of robots involving two different testbed systems in remote locations in different time zones, with communication on the internet. The goal is to have all robots properly follow a leader defined on one of the testbeds, while maintaining non-overlapping positions within each swarm and between swarms, assuming they are superimposed in the same virtual space. A dual-testbed design is developed involving real robots and remote network communication, performing a cooperative swarming algorithm based on a modified Morse Potential. Extensive experimental results were obtained with real internet communication and virtual testbeds running in each lab. The communication protocol was designed to minimize loss of packets, and average transfer delays are within tolerance limits for practical applications. We ran several experiments, with intentional packet loss, that illustrate the degradation of the results in the case of modest and severe packet loss. The novelty of this work is its experimental aspect involving long range network communication across a large distance via the internet. The work raises a series of interesting theoretical problems.
AB - We consider cooperative control of robots involving two different testbed systems in remote locations in different time zones, with communication on the internet. The goal is to have all robots properly follow a leader defined on one of the testbeds, while maintaining non-overlapping positions within each swarm and between swarms, assuming they are superimposed in the same virtual space. A dual-testbed design is developed involving real robots and remote network communication, performing a cooperative swarming algorithm based on a modified Morse Potential. Extensive experimental results were obtained with real internet communication and virtual testbeds running in each lab. The communication protocol was designed to minimize loss of packets, and average transfer delays are within tolerance limits for practical applications. We ran several experiments, with intentional packet loss, that illustrate the degradation of the results in the case of modest and severe packet loss. The novelty of this work is its experimental aspect involving long range network communication across a large distance via the internet. The work raises a series of interesting theoretical problems.
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U2 - 10.1109/acc.2012.6315420
DO - 10.1109/acc.2012.6315420
M3 - Conference contribution
AN - SCOPUS:84869425394
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 6065
EP - 6070
BT - 2012 American Control Conference, ACC 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 American Control Conference, ACC 2012
Y2 - 27 June 2012 through 29 June 2012
ER -