A Prototyping Framework for Distributed Control of Multi-Robot Systems

• URL: http://arxiv.org/abs/2605.15049v1
• Date: Thu, 14 May 2026 16:44:14 GMT
• Title: A Prototyping Framework for Distributed Control of Multi-Robot Systems
• Abstract summary: This paper presents a prototyping framework for distributed control of multi-robot systems.<n>Using the Single Program, Multiple Data (SPMD) paradigm, the framework emulates distributed control on a single computer.<n>We demonstrate the framework on a four-quadrotor position-swapping task using a non-cooperative game-theoretic distributed algorithm.
• Score: 0.9449650062296823
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: 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.

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