Decentralized leader-follower control under high level goals without explicit communication
Anastasios Tsiamis, Jana Tumova, Charalampos P. Bechlioulis, George C. Karras, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos
Abstract
In this paper, we study the decentralized control problem of a two-agent system under local goal specifications given as temporal logic formulas. The agents collaboratively carry an object in a leader-follower scheme and lack means to exchange messages on-line, i.e., to communicate explicitly. Specifically, we propose a decentralized control protocol and a leader re-election strategy that secure the accomplishment of both agents' local goal specifications. The challenge herein lies in exploiting exclusively implicit inter-robot communication that is a natural outcome of the physical interaction of the robots with the object. An illustrative experiment is included clarifying and verifying the approach.
BibTeX
@inproceedings{iros2015_decentralizedlea,
title = {Decentralized leader-follower control under high level goals without explicit communication},
author = {Anastasios Tsiamis and Jana Tumova and Charalampos P. Bechlioulis and George C. Karras and Dimos V. Dimarogonas and Kostas J. Kyriakopoulos},
booktitle = {IROS 2015},
year = {2015}
}