@inproceedings{7495beee39e54a34981f91cac469781e,
title = "Follow-the-leader formation marching through a scalable O(log2n) parallel architecture",
abstract = "An important topic in the field of Multi Robot Systems focuses on motion coordination and synchronization for formation keeping. Although several works have addressed such problem, little attention has been devoted to study the computational complexity within the framework of large-scale systems. This paper presents our current work on how to achieve high computational performance for systems composed by a large number of robots that must fulfill with a marching and formation task. A scalable Multi-Processor Parallel Architecture is introduced with the purpose of achieving scalability, i.e., computation time of O(log2n) for a n-robots system. Our architecture has been tested onto a multi-processor system and validated against several simulations testing.",
keywords = "Convoying, Cooperative robotics, Distributed systems, Formation keeping, Multi-robot systems, Newton-Euler formulations, Strictly parallel computation",
author = "J. Colorado and A. Barrientos and C. Rossi and \{Del Cerro\}, J.",
year = "2010",
doi = "10.1109/IROS.2010.5649227",
language = "English",
isbn = "9781424466757",
series = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",
publisher = "IEEE Computer Society",
pages = "5583--5588",
booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",
address = "United States",
}