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

doi:10.1109/IROS.2015.7354199

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

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English (US)
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5790-5795
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354199
State	Published - Dec 11 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: Sep 28 2015 → Oct 2 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	9/28/15 → 10/2/15

Keywords

Force
Planning
Robot kinematics
Robot sensing systems
Torque
Trajectory

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2015.7354199

Cite this

Tsiamis, A., Tumova, J., Bechlioulis, C. P., Karras, G. C., Dimarogonas, D. V., & Kyriakopoulos, K. J. (2015). Decentralized leader-follower control under high level goals without explicit communication. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5790-5795). Article 7354199 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354199

Decentralized leader-follower control under high level goals without explicit communication. / Tsiamis, Anastasios; Tumova, Jana; Bechlioulis, Charalampos P. et al.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 5790-5795 7354199 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tsiamis, A, Tumova, J, Bechlioulis, CP, Karras, GC, Dimarogonas, DV & Kyriakopoulos, KJ 2015, Decentralized leader-follower control under high level goals without explicit communication. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7354199, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 5790-5795, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7354199

Tsiamis A, Tumova J, Bechlioulis CP, Karras GC, Dimarogonas DV, Kyriakopoulos KJ. Decentralized leader-follower control under high level goals without explicit communication. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 5790-5795. 7354199. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7354199

Tsiamis, Anastasios ; Tumova, Jana ; Bechlioulis, Charalampos P. et al. / Decentralized leader-follower control under high level goals without explicit communication. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 5790-5795 (IEEE International Conference on Intelligent Robots and Systems).

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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.",

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Decentralized leader-follower control under high level goals without explicit communication

Abstract

Publication series

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Keywords

ASJC Scopus subject areas

Access to Document

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