Bounded Control Law for Global Connectivity Maintenance in Cooperative Multirobot Systems

被引：67
作者：
Gasparri, Andrea [1 ]
Sabattini, Lorenzo [2 ]
Ulivi, Giovanni [1 ]
机构：
[1] Roma Tre Univ, Dept Engn, I-00146 Rome, Italy
[2] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn, I-41121 Modena, Italy
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2017年 / 33卷 / 03期
关键词：
Distributed robot systems; global connectivity maintenance; networked robots; nonsmooth analysis; ALGEBRAIC CONNECTIVITY; DISTRIBUTED CONTROL; MULTIAGENT; COORDINATION;
D O I：
10.1109/TRO.2017.2664883
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we address the connectivity maintenance problem for a multirobot system that moves according to a given bounded collective control objective. We assume that the interaction among the robotic units is limited by a given visibility radius both in terms of sensing and communication capabilities. For this scenario, we propose a decentralized bounded control law that can provably preserve the connectivity of the multirobot system over time. We characterize the effect of the connectivity control term on the achievement of the collective control objective by resorting to an input-to-state stability-like analysis. We provide numerical and experimental results to corroborate the theoretical findings and assess the effectiveness of the proposed bounded connectivity maintenance control law.
引用
收藏
页码：700 / 717
页数：18
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