Name
Abstract | ||
|---|---|---|
Decentralized control strategies have been widely studied over the past few years. Decentralized control of multi-leader robot networks often employs the use of decentralized state estimation schemes to overcome the constraint of limited communication. This paper presents the robustness analysis of such an estimation scheme, towards robot breakdown or communication link failure. The methodology discussed in this paper asserts that a set of independent robots estimate the state of dependent robots to produce a control input for the network. To produce accurate estimates of the states of the robots, we make an assumption that the estimator has complete knowledge of the network topology. In this paper, we analyze the dynamics of the estimation scheme in absence of this assumption. We present a false topology to the estimator, which is symbolic of introducing robot breakdowns or link failures. Using simulations performed by random sampling methods, we conclude to an empirical proof about the robustness of the estimator. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/ROBIO.2018.8665166 | 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) |
Field | DocType | Citations |
Communication link,Decentralised system,Perturbation theory,Control theory,Robustness (computer science),Network topology,Sampling (statistics),Engineering,Robot,Estimator | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kedar Karpe | 1 | 0 | 0.34 |
| Dhanalakshmi Samiappan | 2 | 0 | 0.68 |
| Kumar Ramamoorthy | 3 | 0 | 0.34 |
| Lorenzo Sabattini | 4 | 393 | 36.65 |