Decentralized estimation and control of graph connectivity for mobile sensor networks

被引：292

作者：

Yang, P. ^{[2
]}

Freeman, R. A. ^{[1
]}

Gordon, G. J. ^{[3
]}

Lynch, K. M. ^{[2
]}

Srinivasa, S. S. ^{[4
]}

Sukthankar, R. ^{[4
]}

机构：

[1] Northwestern Univ, Dept Elect Engn & Comp Sci, Evanston, IL 60208 USA

[2] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA

[3] Carnegie Mellon Univ, Sch Comp Sci, Pittsburgh, PA 15213 USA

[4] Intel Res, Pittsburgh, PA 15213 USA

来源：

AUTOMATICA | 2010年 / 46卷 / 02期

关键词：

Connectivity; Decentralized control; Graph theory; Numerical algorithms; Autonomous mobile robots; COORDINATION; AGENTS; MOTION;

D O I：

10.1016/j.automatica.2009.11.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The ability of a robot team to reconfigure itself is useful in many applications: for metamorphic robots to change shape, for swarm motion towards a goal, for biological systems to avoid predators, or for mobile buoys to clean up oil spills. In many situations, auxiliary constraints, such as connectivity between team members or limits on the maximum hop-count, must be satisfied during reconfiguration. In this paper, we show that both the estimation and control of the graph connectivity can be accomplished in a decentralized manner. We describe a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimator, we further propose a decentralized gradient controller for each agent to maintain global connectivity during motion. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：390 / 396

页数：7

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