Leader Election and Agreement

Heading is the direction a robot is facing in a

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Unformatted text preview: ding is the direction a robot is facing in a shared global coordinate system. Be careful how you compute the average of angles, there are many clever-sounding ways, but only one correct way to do this. Use the math functions provided in the API, they are optimized for integer computation. 5 Check-off and Write-up 5.1 Check-off (Complete as a group) 1. Demonstrate leader election. Use the lights to indicate which robot is the leader. 2 ver: 2009-01-31b University of Washington CSE 481c: Multi-Robot Systems Lab 3: Leader Election and Agreement Janurary 22, 2009 2. Demonstrate leader election. Use the datalogger to show that all robots know which one is the leader. 3. Demonstrate agreement using message passing. Show convergence with the lights on the robots. 4. Demonstrate agreement using message passing. Use the datalogger to show that all robots know the global average. 5. Demonstrate agreement using motion. Show the robots agreeing on a heading. 5.2 Write-up (Complete individually) Make a network with a diameter of at least four using 12 robots. Collect enough...
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This document was uploaded on 03/02/2014 for the course CS 481 at Rice.

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