Distributed Connectivity Maximization for Networked Mobile Robots with Collision Avoidance

被引：2

作者：

Zhang, Yinyan ^{[1
]}

Li, Shuai ^{[2
]}

Wu, Yongdong ^{[1
]}

Deng, Qingyun ^{[1
]}

机构：

[1] Jinan Univ, Coll Cyber Secur, Guangzhou 510632, Peoples R China

[2] Swansea Univ, Coll Engn, Swansea SA1 7EN, W Glam, Wales

来源：

PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年

基金：

中国国家自然科学基金;

关键词：

Mobile robots; Distributed estimation; Multi-agent systems; Connectivity maximization; CONSENSUS; SYSTEMS;

D O I：

10.1109/CCDC52312.2021.9601425

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For networked mobile robots, it is important to have a good initial configuration before executing given tasks, such as cooperative tracking. In this paper, based on our recent work on the distributed estimation of algebraic connectivity for undirected graphs, we present a novel approach to realize autonomous connectivity maximization for networked mobile robots with collision avoidance. The performance of the presented approach is tested via simulations, which substantiate its effectiveness.

引用

页码：5584 / 5588

页数：5

共 16 条

[1]

Bullo F., 2009, DISTRIBUTED CONTROL

[2] Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints [J].

Chen, Mou ;

Ge, Shuzhi Sam ;

Ren, Beibei .

AUTOMATICA, 2011, 47 (03) :452-465

[3] Neural-Network-Based Consensus Control for Multiagent Systems With Input Constraints: The Event-Triggered Case [J].

Ding, Derui ;

Wang, Zidong ;

Han, Qing-Long .

IEEE TRANSACTIONS ON CYBERNETICS, 2020, 50 (08) :3719-3730

[4] Decentralized local-global connectivity maintenance for networked robotic teams [J].

Khateri, Koresh ;

Pourgholi, Mandi ;

Montazeri, Mohsen ;

Sabattini, Lorenzo .

EUROPEAN JOURNAL OF CONTROL, 2020, 51 :110-121

[5] A Comparison Between Decentralized Local and Global Methods for Connectivity Maintenance of Multi-Robot Networks [J].

Khateri, Koresh ;

Pourgholi, Mandi ;

Montazeri, Mohsen ;

Sabattini, Lorenzo .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (02) :633-640

[6] Cooperative Distributed Source Seeking by Multiple Robots: Algorithms and Experiments [J].

Li, Shuai ;

Kong, Ruofan ;

Guo, Yi .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2014, 19 (06) :1810-1820

[7] Consensus problems in networks of agents with switching topology and time-delays [J].

Olfati-Saber, R ;

Murray, RM .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) :1520-1533

[8] Decentralized connectivity maintenance for cooperative control of mobile robotic systems [J].

Sabattini, Lorenzo ;

Chopra, Nikhil ;

Secchi, Cristian .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2013, 32 (12) :1411-1423

[9] Leader-following rendezvous with connectivity preservation and disturbance rejection via internal model approach [J].

Su, Youfeng .

AUTOMATICA, 2015, 57 :203-212

[10] Decentralized estimation and control of graph connectivity for mobile sensor networks [J].

Yang, P. ;

Freeman, R. A. ;

Gordon, G. J. ;

Lynch, K. M. ;

Srinivasa, S. S. ;

Sukthankar, R. .

AUTOMATICA, 2010, 46 (02) :390-396

← 1 2 →