Journal
IFAC PAPERSONLINE
Volume 51, Issue 12, Pages 112-117Publisher
ELSEVIER
DOI: 10.1016/j.ifacol.2018.07.097
Keywords
Autonomous mobile robots; Agents; Distributed Control; Decentralized Control
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Funding
- Office of Naval Research, Science of Autonomy Program [N00014-15-1-2673]
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In this paper, we review multi-agent collective behavior algorithms in the literature and classify them according to their underlying mathematical structure. For each mathematical technique, we identify the multi-agent coordination tasks it can be applied to, and we analyze its scalability, bandwidth use, and demonstrated maturity. We highlight how versatile techniques such as artificial potential functions can be used for applications ranging from low-level position control to high-level coordination and task allocation, we discuss possible reasons for the slow adoption of complex distributed coordination algorithms in the field, and we highlight areas for further research and development. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
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