Churning Multiple Communication Sources in Cooperative Control of a Mobile Robot

Cooperative control of a mobile robot with multiple communication sources is investigated. In the leader -follower framework, the robot is assumed as a follower and it follows the instructions of the leader. However, the communication sources are not only the leader but a lso its other associate following the leader. In this setup, the computation at the mobile robot need to churn the data it receives from multiple sources and simultaneously perform the task of its leader. Suppose the leader is assigned to seek a target cooperatively along with its followers. In this paper, a cooperative control algorithm compatible to the robot receiving information from more than one source is developed. The algorithm is executed for a communication pattern in decentralized architecture. Several examples of churning are illustrated and it is shown that churning significantly influences the performance. Further, the initial condition and the direction of the velocity of the follower with respect to its leader are critical to develop a formation. Index Terms — Communication, Churning, Cooperation, Computation, Follower, Leader, Multiple. . ——————————  ——————————