A Prototyping Framework for Distributed Control of Multi-Robot Systems
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866910222174388224 |
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| author | Memon, Junaid Ahmed Nascimento, Allan Andre Do Margellos, Kostas Papachristodoulou, Antonis |
| author_facet | Memon, Junaid Ahmed Nascimento, Allan Andre Do Margellos, Kostas Papachristodoulou, Antonis |
| contents | This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the framework emulates distributed control on a single computer, with each core running the same algorithm using local states and neighbour-to-neighbour communication. We demonstrate the framework on a four-quadrotor position-swapping task using a non-cooperative game-theoretic distributed algorithm. Computational time and trajectory data are compared across the supported dynamics levels: a point-mass model, a high-fidelity quadrotor model, and an experimental hardware testbed using Crazyflie quadcopters. The results show that the framework provides a low-cost and accessible approach for validating distributed algorithms. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2605_15049 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Prototyping Framework for Distributed Control of Multi-Robot Systems Memon, Junaid Ahmed Nascimento, Allan Andre Do Margellos, Kostas Papachristodoulou, Antonis Robotics Multiagent Systems Systems and Control This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the framework emulates distributed control on a single computer, with each core running the same algorithm using local states and neighbour-to-neighbour communication. We demonstrate the framework on a four-quadrotor position-swapping task using a non-cooperative game-theoretic distributed algorithm. Computational time and trajectory data are compared across the supported dynamics levels: a point-mass model, a high-fidelity quadrotor model, and an experimental hardware testbed using Crazyflie quadcopters. The results show that the framework provides a low-cost and accessible approach for validating distributed algorithms. |
| title | A Prototyping Framework for Distributed Control of Multi-Robot Systems |
| topic | Robotics Multiagent Systems Systems and Control |
| url | https://arxiv.org/abs/2605.15049 |