Pancakes: A Software Framework for Distributed Robot and Sensor Network Applications

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38482

Title: Pancakes: A Software Framework for Distributed Robot and Sensor Network Applications
Author: Martin, Patrick ; de la Croix, Jean-Pierre ; Egerstedt, Magnus B.
Abstract: The development of control applications for multi-agent robot and sensor networks is complicated by the heterogeneous nature of the systems involved, as well as their physical capabilities (or limitations). We propose a software framework that unifies these networked systems, thus facilitating the development of multi-agent control across multiple platforms and application domains. This framework addresses the need for these systems to dynamically adjust their actuating, sensing, and networking capabilities based on physical constraints, such as power levels. Furthermore, it allows for sensing and control algorithms to migrate to different platforms, which gives multi-agent control application designers the ability to adjust sensing and control as the network evolves. This paper describes the design and implementation of our software system and demonstrates its successful application on robots and sensor nodes, which dynamically modify their operational components.
Description: Presented at the 10th International Symposium on Distributed Autonomous Systems, Nov. 2010.
Type: Proceedings
URI: http://hdl.handle.net/1853/38482
Citation: P. Martin, J.P. de la Croix, and M. Egerstedt. Pancakes: A Software Framework for Distributed Robot and Sensor Network Applications. 10th International Symposium on Distributed Autonomous Systems, Nov. 2010.
Date: 2010-11
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Subject: Multi-agent robotics
Sensor networks
Networked systems

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