Issues in computational resource allocation in cooperative control
John Patrick Murphy, Luke M. Wachter, LAURA R. RAY · International Conference on Robot Communication and Coordination · 2007
This paper considers the problem of computational resource allocation for a team of dynamic mobile robots subject to limited communication and processing bandwidth, and uncertain state information. We describe a robot test bed, the Dynabot, that exhibits these constraints and characterize its information flow and state estimation accuracy. These models are used for simulating formation of a group of Dynabots, while illustrating resource allocation tradeoffs.