Date of Original Version

10-2007

Type

Conference Proceeding

Abstract or Description

Distributed reconfiguration is an important problem in multi-robot systems such as mobile sensor nets and metamorphic robot systems. In this work, we present a scalable distributed reconfiguration algorithm, hierarchical median decomposition, to achieve arbitrary target configurations. Our algorithm is built on top of a novel distributed median consensus estimator. The algorithms presented are fully distributed and do not require global communication. We show results from simulations in an open source multi-robot simulator.

DOI

10.1109/IROS.2007.4399631

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Published In

Proceedings of the IEEE International Conference on Intelligent Robots and Systems IROS '07.