Show simple item record

dc.contributor.authorJaleel, Hassan
dc.contributor.authorWardi, Yorai
dc.contributor.authorEgerstedt, Magnus B.
dc.date.accessioned2014-09-24T18:19:45Z
dc.date.available2014-09-24T18:19:45Z
dc.date.issued2014-06
dc.identifier.citationH. Jaleel, Y. Wardi, and M. Egerstedt. Minimizing Mobility and Communication Energy in Robotic Networks: An Optimal Control Approach. American Control Conference (ACC), June 2014, pp. 2662-2667.en_US
dc.identifier.isbn978-1-4799-3272-6
dc.identifier.issn0743-1619
dc.identifier.urihttp://hdl.handle.net/1853/52390
dc.description© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.descriptionPresented at the American Control Conference (ACC), Portland, OR, June 2014.
dc.descriptionDOI: 10.1109/ACC.2014.6858765
dc.description.abstractThis paper concerns the problem of minimizing the sum of motion energy and communication energy in a network of mobile robots. The robotic network is charged with the task of transmitting sensor information from a given object to a remote station, and it has to arrange itself in a serial (tandem) configuration for point-to-point transmission, where each robot acts as a relay node. The problem is formulated in a dynamic setting where the robots move and communicate at the same time, and it is cast in the framework of optimal control. The paper proposes an effective algorithm for solving this problem and demonstrates its efficacy on a simulation example. In order to highlight the salient features of the algorithm the network is assumed to be one-dimensional, and the case of planar movement with obstacles is deferred to future research.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectOptimal controlen_US
dc.subjectOptimization algorithmsen_US
dc.subjectSwitched systemsen_US
dc.titleMinimizing Mobility and Communication Energy in Robotic Networks: an Optimal Control Approachen_US
dc.typePost-printen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/ACC.2014.6858765
dc.embargo.termsnullen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record