An efficient algorithm for fault-tolerant rendezvous of multi-robot systems with controllable sensing range

Hyongju Park, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we explore the problem of rendezvous of synchronous multi-robot systems. Each robot has its own unique, bounded yet controllable sensing range which can be adjusted. The state of those robots within the sensing range can be estimated, which induces the directed network topology of the multi-robot systems. In particular, we consider multi-robot systems containing faulty robots which can behave arbitrarily. Our recent work [1] has addressed the problem of achieving rendezvous in the presence of faulty robots under a restrictive class of conditions on network topology. In this work, we presented a theoretically correct, but computationally intractable algorithm. We extend our past work by proposing a new approximate algorithm that is computationally efficient, and by showing that the proposed algorithm solves our problem given faulty robots in general configurations under mild assumptions on the network topology. Thus, the main contribution of this paper is to provide an efficient computational framework and analysis of robust rendezvous algorithm in the presence of faulty robots. Several simulation results are provided to demonstrate that our algorithm performs well in the face of both stationary and dynamic faults.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages358-365
Number of pages8
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Park, H., & Hutchinson, S. (2016). An efficient algorithm for fault-tolerant rendezvous of multi-robot systems with controllable sensing range. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (pp. 358-365). [7487153] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2016-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487153