Análisis de la frecuencia de muestreo en sistemas multi-robot
- Mañas-Álvarez, Francisco José 1
- Guinaldo, María 1
- Dormido, Raquel 1
- Dormido, Sebastián 1
- 1 UNED. Universidad Nacional de Educación a Distancia
- Ramón Costa Castelló (coord.)
- Manuel Gil Ortega (coord.)
- Óscar Reinoso García (coord.)
- Luis Enrique Montano Gella (coord.)
- Carlos Vilas Fernández (coord.)
- Elisabet Estévez Estévez (coord.)
- Eduardo Rocón de Lima (coord.)
- David Muñoz de la Peña Sequedo (coord.)
- José Manuel Andújar Márquez (coord.)
- Luis Payá Castelló (coord.)
- Alejandro Mosteo Chagoyen (coord.)
- Raúl Marín Prades (coord.)
- Vanesa Loureiro-Vázquez (coord.)
- Pedro Jesús Cabrera Santana (coord.)
Publisher: Servizo de Publicacións ; Universidade da Coruña
ISBN: 9788497498609
Year of publication: 2023
Pages: 329-334
Congress: Jornadas de Automática (44. 2023. Zaragoza)
Type: Conference paper
Abstract
Cyber-Physical Systems, CPSs, are playing an increasingly important role today given the synergy that must exist between the physical and digital world in this “connected” society. An important part of these systems is covered by Multi-Robot Systems, SMRs, which can provide more efficient solutions to many of today’s automation challenges compared to the homonymous solution performed by a single robot. This paper examines the design of the inter-agent communication protocol of an SMR for an aerial robot consensus training problem. The minimum operating frequency at which the periodic communication between connected agents should be executed, 10 Hz, is determined. Finally, the trigger threshold that an event-driven communication protocol should have to obtain more efficient management of the communication channel without worsening the performance of the periodic reference system, 2 cm, is analyzed.