A novel approach to coordination of multiple robots with communication failures via proximity graph

被引：49

作者：

Fan, Yuan ^{[1
,2
,3
]}

Feng, Gang ^{[1
,2
,4
]}

Wang, Yong ^{[1
,3
]}

Qiu, Jianbin ^{[5
]}

机构：

[1] USTC CityU Suzhou Joint Adv Res Ctr, Suzhou 215123, Jiangsu, Peoples R China

[2] City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China

[3] Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China

[4] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China

[5] Harbin Inst Technol, Space Control & Inertial Technol Res Ctr, Harbin 150001, Peoples R China

来源：

AUTOMATICA | 2011年 / 47卷 / 08期

关键词：

Multi-robot coordination; Communication failure; Distributed algorithms; Graph theory; MOBILE AUTONOMOUS AGENTS; MULTIAGENT SYSTEMS; RENDEZVOUS PROBLEM; CONSENSUS;

D O I：

10.1016/j.automatica.2011.04.017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：1800 / 1805

页数：6

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