Connectivity management in mobile robot teams

被引：107

作者：

Stump, Ethan ^{[1
]}

Jadbabaie, Ali ^{[1
]}

Kumar, Vijay ^{[1
]}

机构：

[1] Univ Penn, GRASP Lab, Philadelphia, PA 19104 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543418

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We develop a framework for controlling a team of robots to maintain and improve a communication bridge between a stationary robot and an independently exploring robot in a walled environment. We make use of two metrics for characterizing the communication: the Fiedler value of the weighted Laplacian describing the communication interactions of all the robots in the system, and the k-connectivity matrix that expresses which robots can interact through k or less intermediary robots. At each step, we move in such a way as to improve the Fiedler value as much as possible while keeping the number of intermediary robots between the two robots of interest below a desired value. We demonstrate the use of this framework in a scenario where the hop-count constraint cannot be satisfied, but show that communication quality is maintained anyways.

引用

页码：1525 / 1530

页数：6

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