Distributed decentralized robot control

Abstract

This paper proposes a control distribution technique in fully decentralized systems. Non-fully connected control topologies based on internodal transformations are formulated. This is achieved by distributing the state models, observation space and control vectors in an information filter based, decentralized control configuration. Only relevant information is exchanged between nodes and there is no need for inter-nodal (channel) filters. The result is a flexible, robust, parallel, scalable and globally optimal control network. The design is implemented using transputer based parallel hardware. Application envisaged is distributed intelligent control for a modular mobile robot. This is composed of independent driven and steered modules, each with its own sensors, communication and control.