Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Follow-the-leader Formation Marching Through a Scalable O(log2n) Parallel Architecture.
Year:2010
Research Areas
  • Service robots
Information
Abstract
An important topic in the field of Multi Robot Systems focuses on motion coordination and synchronization for formation keeping. Although several works have addressed such problem, little attention has been devoted to study the computational complexity within the framework of large-scale systems. This paper presents our current work on how to achieve high computational performance for systems composed by a large number of robots that must fulfill with a marching and formation task. A scalable Multi-Processor Parallel Architecture is introduced with the purpose of achieving scalability, i.e., computation time of O(log2n) for a n-robots system. Our architecture has been tested onto a multi-processor system and validated against several simulations testing
International
Si
Congress
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010
960
Place
Taipei, Taiwan
Reviewers
Si
ISBN/ISSN
978-1-4244-6674-0
Start Date
18/10/2010
End Date
22/10/2010
From page
5583
To page
5590
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2010
Participants
  • Autor: Julian David Colorado Montaño (UPM)
  • Autor: Claudio Rossi (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)