Implicit communication in multi-robot systems with limited sensing capabilities

The method presented in this paper exploits the concept of Control-Coding to enable the implicit transfer of binary information between agents in multi-robot systems. Binary sequences are encoded into the robot's control action by overlaying secondary control signals on top of the primary contr...

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Bibliographic Details
Published in2021 60th IEEE Conference on Decision and Control (CDC) pp. 2149 - 2154
Main Authors Loizou, Savvas G., Constantinou, Nicolas
Format Conference Proceeding
LanguageEnglish
Published IEEE 14.12.2021
Subjects
Control systems
Control-Coding
implicit communication
Information filters
limited sensing
Multi-robot systems
Robot kinematics
Robot sensing systems
Sensors
Time measurement
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Summary:The method presented in this paper exploits the concept of Control-Coding to enable the implicit transfer of binary information between agents in multi-robot systems. Binary sequences are encoded into the robot's control action by overlaying secondary control signals on top of the primary control signal, thereby forming a controller-encoder pair which simultaneously (i) stabilizes the robot with respect to its control objective, and (ii) transmits information through the motion of the robot. This motion can be detected and decoded by other robots, so as to extract the transmitted information. The effectiveness of the method is demonstrated by simulating a simple coordination task between two unicycles with limited sensing and non-existent communication capabilities.
ISSN:2576-2370
DOI:10.1109/CDC45484.2021.9682988