DECENTRALIZED CONNECTIVITY MAINTENANCE FOR NETWORKED LAGRANGIAN DYNAMICAL SYSTEMS WITH COLLISION AVOIDANCE

被引：12
|
作者：
Sabattini, Lorenzo [1 ]
Secchi, Cristian [1 ]
Chopra, Nikhil [2 ]
机构：
[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn DISMI, Reggio Emilia, Italy
[2] Univ Maryland, Dept Mech Engn, College Pk, MD 20742 USA
来源：
ASIAN JOURNAL OF CONTROL | 2015年 / 17卷 / 01期
基金：
美国国家科学基金会;
关键词：
Connectivity maintenance; Lagrangian systems; decentralized control; collision avoidance; MOBILE SENSOR NETWORKS; DISTRIBUTED CONTROL; COVERAGE CONTROL; SURVEILLANCE; CONSENSUS; TRACKING; STRATEGY; ROBOTS;
D O I：
10.1002/asjc.853
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 order to accomplish cooperative tasks, multi-robot systems are required to communicate among each other. This inter-robot communication can be modeled as a graph. Thus, maintaining the connectivity of the communication graph is a fundamental issue in cooperative robotic systems. Connectivity maintenance has been extensively studied in the last few years, but generally considering only kinematic agents. In this paper we introduce a control strategy which, by exploiting a decentralized procedure for the estimation of the algebraic connectivity of the graph, ensures connectivity maintenance for groups of Lagrangian systems. Collision avoidance control actions are also integrated with the connectivity maintenance algorithm. The control strategy is validated by means of analytical proofs and simulation results.
引用
收藏
页码：111 / 123
页数：13
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