Modular decentralized robot control

A. G.O. Mutambara, H. F. Durrant-Whyte

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper addresses the design, verification and implementation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. A decentralized Information filter is developed and extended to solve the decentralized control problem keeping consistency with information space ideas. Locally processed information is shared by all nodes so that optimal control is computed using the best, locally determined, global state estimate. There is no central processing site and hence the system performance degrades gracefully under structural perturbations. Control is determined such that the expected value of a quadratic performance index is minimized. The designed system is modelled and verified using Communicating Sequential Process (CSP) algebra. Software is developed in Parallel ANSI C. A simulated test implementation is effected using transputer based hardware. Validation and performance analysis are carried out with respect to conventional centralized control. Application to effect intelligent control for a modular, decentralized navigating robot 1 is considered.

Original languageEnglish
Title of host publicationProceedings of the Intelligent Vehicles 1993 Symposium, IV 1993
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)0780313704
Publication statusPublished - 1993
Externally publishedYes
Event1993 Intelligent Vehicles Symposium, IV 1993 - Tokyo, Japan
Duration: 14 Jul 199316 Jul 1993

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


Conference1993 Intelligent Vehicles Symposium, IV 1993

ASJC Scopus subject areas

  • Computer Science Applications
  • Automotive Engineering
  • Modeling and Simulation


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