Ergodic Dynamics by Design: A Route to Predictable Multi-Robot Systems

Abstract

We define and discuss a class of multi-robot systems possessing ergodic dynamics and show that they are realizable on physical hardware and useful for a variety of tasks while being amenable to analysis. We describe robot controllers synthesized to possess these dynamics and also physics-based methodologies that allow macroscopic structures to be uncovered and exploited for task execution in systems with large numbers of robots.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2005
Accession Number
ADA575686

Entities

People

  • Chris V. Jones
  • Dylan A. Shell
  • Maja Matarić

Organizations

  • University of Southern California

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Adaptive Systems
  • Computer Science
  • Differential Equations
  • Dynamics
  • Ergodic Processes
  • Military Research
  • Phase Diagrams
  • Phase Transformations
  • Physics
  • Probability
  • Robotic Swarms
  • Robotics
  • Robots
  • Simulations
  • Statistical Mechanics
  • Stochastic Processes
  • Transitions

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Computational Modeling and Simulation
  • Theoretical Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control