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Multi-robot deployment and coordination with Embedded Graph Grammars

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Abstract

This paper presents a framework for going from specifications to implementations of decentralized control strategies for multi-robot systems. In particular, we show how the use of Embedded Graph Grammars (EGGs) provides a tool for characterizing local interaction and control laws. This paper highlights some key implementation aspects of the EGG formalism, and develops and discusses experimental results for a hexapod-based multi-robot system, as well as a multi-robot system of wheeled robots.

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Authors and Affiliations

  1. School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA

    Brian Smith, Ayanna Howard, Jiuguang Wang & Magnus Egerstedt

  2. Department of Electrical Engineering, University of Washington, Seattle, WA, USA

    John-Michael McNew

Authors
  1. Brian Smith
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  2. Ayanna Howard
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  3. John-Michael McNew
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  4. Jiuguang Wang
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  5. Magnus Egerstedt
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Correspondence to Brian Smith.

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Smith, B., Howard, A., McNew, JM. et al. Multi-robot deployment and coordination with Embedded Graph Grammars. Auton Robot 26, 79–98 (2009). https://doi.org/10.1007/s10514-008-9107-6

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  • DOI: https://doi.org/10.1007/s10514-008-9107-6

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