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This paper considers a system of mobile robots that is able to form an ad hoc network. Robots within the system need to form connections to other members with certain quality of service (QoS) requirements. Authors present a distributed control architecture that allows robots participating in routing a QoS flow to maintain the required level of ser-vice while addressing secondary objectives. This is based on a distributed control system that al-lows global properties to be maintained using error-suppressing controllers that guarantee best-e ort adherence to global system constraints.
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