Coordinated collective motion of groups of autonomous mobile robots with directed interconnected topology

被引：18

作者：

Yu, Hui ^{[1
]}

Wang, Yongji ^{[2
]}

机构：

[1] China Three Gorges Univ, Inst Nonlinear & Complex Syst, Yichang 443002, Peoples R China

[2] Huazhong Univ Sci & Technol, Dept Control Sci & Engn, Wuhan 430074, Peoples R China

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2008年 / 53卷 / 01期

基金：

中国国家自然科学基金;

关键词：

collective motion; autonomous mobile robot; consensus theory; directed graph; globally reachable node;

D O I：

10.1007/s10846-008-9230-9

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Coordinated collective motion of groups of autonomous mobile robots is studied. A qualitative analysis for the collective dynamics of multiple autonomous robots with directed interconnected topology using nearest neighbor rules is given. A necessary and sufficient graphical condition is proposed to guarantee that the headings of all robots converge to the same heading. The graph having a globally reachable node plays a crucial role in convergence analysis. Furthermore, we show that the globally reachable node having no neighbors serves as a group leader as a special case.

引用

页码：87 / 98

页数：12

共 20 条

[1]

[Anonymous], 1987, Comput. Graph.

[2]

Bang-Jensen J., 2001, DIGRAPHS THEORY ALGO

[3] Communication constraints in coordinated consensus problems [J].

Carli, Ruggero ;

Fagnani, Fabio ;

Speranzon, Alberto ;

Zampieri, Sandro .

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 :4189-4194

[4] Tight analyses of two local load balancing algorithms [J].

Ghosh, B ;

Leighton, FT ;

Maggs, BM ;

Muthukrishnan, S ;

Plaxton, CG ;

Rajaraman, R ;

Richa, AW ;

Tarjan, RE ;

Zuckerman, D .

SIAM JOURNAL ON COMPUTING, 1999, 29 (01) :29-64

[5] Dynamic load balancing by random matchings [J].

Ghosh, B ;

Muthukrishnan, S .

JOURNAL OF COMPUTER AND SYSTEM SCIENCES, 1996, 53 (03) :357-370

[6]

Godsil C., 2001, ALGEBRAIC GRAPH THEO

[7] Agreement over random networks [J].

Hatano, Y ;

Mesbahi, M .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (11) :1867-1872

[8]

Horn R. A., 1986, Matrix analysis

[9] Coordination of groups of mobile autonomous agents using nearest neighbor rules [J].

Jadbabaie, A ;

Lin, J ;

Morse, AS .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) :988-1001

[10] Quantized consensus [J].

Kashyap, Akshay ;

Basar, Tamer ;

Srikant, R. .

AUTOMATICA, 2007, 43 (07) :1192-1203

← 1 2 →