Decentralized cooperative control - A multivehicle platform for research in networked embedded systems
Cruz, D.; McClintock, J.; Perteet, B.; Orqueda, O.A.A.; Yuan Cao; Fierro, R.
Control Systems Magazine, IEEE
Volume 27, Issue 3, June 2007 Page(s):58 - 78
Digital Object Identifier   10.1109/MCS.2007.365004
Summary:Recent advances in communication, computation, and embedded technologies support the development of cooperative multivehicle systems. For the purposes of this article, we adopt the following definition of cooperative behavior: "Given some task specified by a designer, a multiple-robot system displays cooperative behavior if, due to some underlying mechanism, for instance, the 'mechanism of cooperation,' there is an increase in the total utility of the system." The development of cooperative multivehicle systems is motivated by the recognition that, by distributing computer power and other resources, teams of mobile agents can perform many tasks more efficiently and robustly than an individual robot. For example, teams of robots can complete tasks such as multipoint surveillance, distributed localization and mapping, and cooperative transport. To facilitate the development of cooperative control systems and mobile sensor networks, we have created a cooperative multivehicle testbed (COMET) for research and experimentation.

» View citation and abstract

Log in by entering your IEEE Web Account Username and Password.

IEEE Communications Society members: If you subscribe to the IEEE Electronic Periodicals Package or IEEE Electronic Periodicals Package Plus, you must access your subscription at www.comsoc.org.

Check with your librarian, information professional, or system manager to determine if you need to log in. Please complete the online Technical Support Form if you need assistance.

Select the Purchase History link to access the document. You will have 5 Days after purchase to access the Full Text PDF. Please complete the online Technical Support Form if you need assistance.

• Search and access Abstract records free of charge
• Register for table of contents alerts
• Purchase Full Text PDF documents

» Learn more about subscription options or how to become an IEEE Member.