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We propose a new algorithm to simplify the controller development fordistributed robotic systems subject to external observations, disturbances, andcommunication delays. Unlike prior approaches that propose specializedsolutions to handling communication latency for specific robotic applications,our algorithm uses an arbitrary centralized controller as the specification andautomatically generates distributed controllers with communication managementand delay compensation. We formulate our goal as nonlinear optimal control --using a regret minimizing objective that measures how much the distributedagents behave differently from the delay-free centralized response -- and solvefor optimal actions w.r.t. local estimations of this objective usinggradient-based optimization. We analyze our proposed algorithm's behavior undera linear time-invariant special case and prove that the closed-loop dynamicssatisfy a form of input-to-state stability w.r.t. unexpected disturbances andobservations. Our experimental results on both simulated and real-world robotictasks demonstrate the practical usefulness of our approach and show significantimprovement over several baseline approaches.

OneVision: Centralized to Distributed Controller Synthesis with Delay Compensation