Jorge Cortés


Coordinated control of multi-robot systems: a survey
J. Cortés, M. Egerstedt
SICE Journal of Control, Measurement, and System Integration 10 (6) (2017), 495-503


Recently, significant gains have been made in our understanding of how multi-robot systems work, and such systems have been deployed in domains as diverse as precision agriculture, flexible manufacturing, environmental monitoring, search-and-rescue operations, and even swarming robotic toys. What has enabled these developments is a combination of technological advances in performance, price, and scale of the platforms themselves, and a new understanding of how the robots should be organized algorithmically. In this paper, we focus on the latter of these advances, with particular emphasis on decentralized control and coordination strategies as they pertain to multi-robot systems. The paper discusses a class of problems related to the assembly of preferable geometric shapes in a decentralized manner through the formulation of descent-based algorithms defined with respect to team-level performance costs.


Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

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