Dead-locks and break of symmetry in robot coordination

I. Corro Ramos; B. Piccoli

doi:10.1002/9780470612217.ch11

Dead-locks and break of symmetry in robot coordination

I. Corro Ramos
, B. Piccoli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

The aim of this paper is to study the dead-locks produced by locally coordinate motion of robots with simplified dynamics. We assume that each agent is a point in the plane with the possibility of moving in any direction with bound on the norm of the velocity. The algorithms designed using cooperative controls are quite simple, thus it is possible to understand in detail the dead-locks that may appear. Once the typical dead-locks are analyzed, a special break of symmetry procedure is designed to exit the dead-lock manifold. Agents activate such procedure when they detect to be in dead-lock position.

Original language	English
Title of host publication	Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France
Editors	F. Lamnabhi-Lagarrigue, S. Laghrouche, A. Loria, E. Panteley
Place of Publication	London
Publisher	International Scientific & Technical Encyclopedia (ISTE)
Chapter	11
Pages	171-185
Number of pages	15
ISBN (Electronic)	978-0-4706-1221-7
ISBN (Print)	978-190520965-1
DOIs	https://doi.org/10.1002/9780470612217.ch11
Publication status	Published - 2007
Event	CTS-HYCON Workshop, Paris IV Sorbonne, France - Paris, France Duration: 10 Jul 2006 → 12 Jul 2006

Conference

Conference	CTS-HYCON Workshop, Paris IV Sorbonne, France
Country/Territory	France
City	Paris
Period	10/07/06 → 12/07/06
Other	CTS-HYCON Workshop, Paris IV Sorbonne, France

Access to Document

10.1002/9780470612217.ch11

Cite this

Corro Ramos, I., & Piccoli, B. (2007). Dead-locks and break of symmetry in robot coordination. In F. Lamnabhi-Lagarrigue, S. Laghrouche, A. Loria, & E. Panteley (Eds.), Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France (pp. 171-185). International Scientific & Technical Encyclopedia (ISTE). https://doi.org/10.1002/9780470612217.ch11

Corro Ramos, I. ; Piccoli, B. / Dead-locks and break of symmetry in robot coordination. Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France. editor / F. Lamnabhi-Lagarrigue ; S. Laghrouche ; A. Loria ; E. Panteley. London : International Scientific & Technical Encyclopedia (ISTE), 2007. pp. 171-185

@inproceedings{553935e89f6f477094ff27e328416418,

title = "Dead-locks and break of symmetry in robot coordination",

abstract = "The aim of this paper is to study the dead-locks produced by locally coordinate motion of robots with simplified dynamics. We assume that each agent is a point in the plane with the possibility of moving in any direction with bound on the norm of the velocity. The algorithms designed using cooperative controls are quite simple, thus it is possible to understand in detail the dead-locks that may appear. Once the typical dead-locks are analyzed, a special break of symmetry procedure is designed to exit the dead-lock manifold. Agents activate such procedure when they detect to be in dead-lock position.",

author = "\{Corro Ramos\}, I. and B. Piccoli",

year = "2007",

doi = "10.1002/9780470612217.ch11",

language = "English",

isbn = "978-190520965-1",

pages = "171--185",

editor = "F. Lamnabhi-Lagarrigue and S. Laghrouche and A. Loria and E. Panteley",

booktitle = "Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France",

publisher = "International Scientific \& Technical Encyclopedia (ISTE)",

note = "CTS-HYCON Workshop, Paris IV Sorbonne, France ; Conference date: 10-07-2006 Through 12-07-2006",

}

Corro Ramos, I & Piccoli, B 2007, Dead-locks and break of symmetry in robot coordination. in F Lamnabhi-Lagarrigue, S Laghrouche, A Loria & E Panteley (eds), Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France. International Scientific & Technical Encyclopedia (ISTE), London, pp. 171-185, CTS-HYCON Workshop, Paris IV Sorbonne, France, Paris, France, 10/07/06. https://doi.org/10.1002/9780470612217.ch11

Dead-locks and break of symmetry in robot coordination. / Corro Ramos, I.; Piccoli, B.
Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France. ed. / F. Lamnabhi-Lagarrigue; S. Laghrouche; A. Loria; E. Panteley. London: International Scientific & Technical Encyclopedia (ISTE), 2007. p. 171-185.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Dead-locks and break of symmetry in robot coordination

AU - Corro Ramos, I.

AU - Piccoli, B.

PY - 2007

Y1 - 2007

N2 - The aim of this paper is to study the dead-locks produced by locally coordinate motion of robots with simplified dynamics. We assume that each agent is a point in the plane with the possibility of moving in any direction with bound on the norm of the velocity. The algorithms designed using cooperative controls are quite simple, thus it is possible to understand in detail the dead-locks that may appear. Once the typical dead-locks are analyzed, a special break of symmetry procedure is designed to exit the dead-lock manifold. Agents activate such procedure when they detect to be in dead-lock position.

AB - The aim of this paper is to study the dead-locks produced by locally coordinate motion of robots with simplified dynamics. We assume that each agent is a point in the plane with the possibility of moving in any direction with bound on the norm of the velocity. The algorithms designed using cooperative controls are quite simple, thus it is possible to understand in detail the dead-locks that may appear. Once the typical dead-locks are analyzed, a special break of symmetry procedure is designed to exit the dead-lock manifold. Agents activate such procedure when they detect to be in dead-lock position.

U2 - 10.1002/9780470612217.ch11

DO - 10.1002/9780470612217.ch11

M3 - Conference contribution

SN - 978-190520965-1

SP - 171

EP - 185

BT - Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France

A2 - Lamnabhi-Lagarrigue, F.

A2 - Laghrouche, S.

A2 - Loria, A.

A2 - Panteley, E.

PB - International Scientific & Technical Encyclopedia (ISTE)

CY - London

T2 - CTS-HYCON Workshop, Paris IV Sorbonne, France

Y2 - 10 July 2006 through 12 July 2006

ER -

Corro Ramos I, Piccoli B. Dead-locks and break of symmetry in robot coordination. In Lamnabhi-Lagarrigue F, Laghrouche S, Loria A, Panteley E, editors, Taming Heterogeneity and Complexity of Embedded Control (Selected papers presented at the Joint CTS-HYCON Workshop on Nonlinear and Hybrid Control) 10-12 July 2006, Paris IV Sorbonne, France. London: International Scientific & Technical Encyclopedia (ISTE). 2007. p. 171-185 doi: 10.1002/9780470612217.ch11

Dead-locks and break of symmetry in robot coordination

Abstract

Conference

Access to Document

Fingerprint

Cite this