TY - GEN

T1 - Control of many robots moving in the same direction with different speeds

T2 - 2009 American Control Conference, ACC 2009

AU - Von, David De

AU - Bretl, Timothy

PY - 2009/11/23

Y1 - 2009/11/23

N2 - This paper considers the problem of controlling a group of microrobots that can move at different speeds but that must all move in the same direction. To simplify this problem, the movement direction is made a periodic function of time. Although the resulting control policy is suboptimal for an infinite-horizon quadratic cost, a bound is provided on how suboptimal it is. This bound is extended to show that, in theory, the design compromise making all robots move in the same direction only increases the expected cost by a factor of at most p2. Results are shown in simulation.

AB - This paper considers the problem of controlling a group of microrobots that can move at different speeds but that must all move in the same direction. To simplify this problem, the movement direction is made a periodic function of time. Although the resulting control policy is suboptimal for an infinite-horizon quadratic cost, a bound is provided on how suboptimal it is. This bound is extended to show that, in theory, the design compromise making all robots move in the same direction only increases the expected cost by a factor of at most p2. Results are shown in simulation.

UR - http://www.scopus.com/inward/record.url?scp=70449625608&partnerID=8YFLogxK

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U2 - 10.1109/ACC.2009.5160686

DO - 10.1109/ACC.2009.5160686

M3 - Conference contribution

AN - SCOPUS:70449625608

SN - 9781424445240

T3 - Proceedings of the American Control Conference

SP - 1794

EP - 1799

BT - 2009 American Control Conference, ACC 2009

Y2 - 10 June 2009 through 12 June 2009

ER -