Abstract-Distributed reconfiguration is an important problem in multi-robot systems such as mobile sensor nets and metamorphic robot systems. In this work, we present a scalable distributed reconfiguration algorithm, Hierarchical Median Decomposition, to achieve arbitrary target configurations. Our algorithm is built on top of a novel distributed median consensus estimator. The algorithms presented are fully distributed and do not require global communication. We show results from simulations in an open source multi-robot simulator.
REF Ravichandran, Gordon, and Goldstein] present a scalable distributed reconfiguration algorithm to achieve arbitrary target configurations built on top of a distributed median consensus estimator which requires only local communication.
A scalable distributed algorithm for shape transformation in multi-robot systems
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Computer Science