17

Multi-Robot Coordination

Isaac O. Osunmakinde

CONTENTS

17.1    Introduction

17.2    From Single to Multi-Robot Control

17.3    Challenges of MRS

17.4    Necessity of Coordination in MRS

17.5    From Local Interaction to Global Coordination

17.6    Interaction through the Environment

17.7    Design and Analysis of MRS

17.8    Principled Synthesis of MRS Controllers

17.9    Multi-Robot Software Architecture

17.10  Real-Time Framework for Multi-Robot Coordination

17.11  Control of Groups of Robots

17.12  Conclusions

References

17.1    INTRODUCTION

The problem of multi-robot coordination lies at the heart of many robotics applications. A multi-robot system (MRS) is a group of robots that are organized into a multi-agent architecture ...

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