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
Y1 - 2009
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 - https://www.scopus.com/pages/publications/70449625608
UR - https://www.scopus.com/pages/publications/70449625608#tab=citedBy
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 -