In this work, we address the connectivity main- tenance problem for a team of mobile robots which move according to a given collective control objective. In our frame- work, the interaction among the robots is limited by a given visibility radius both in terms of sensing and communication. For this scenario, we propose a bounded control law which can provably preserve the connectivity of the multi-robot system over time even in the presence of any desired bounded control objective. Furthermore, we characterize the effects of the connectivity control term on the collective control objective, in terms of robustness of the desired control objective to the disturbance of the connectivity, by resorting to the set Input- to-State Stability framework (set-ISS). For the validation of the proposed bounded connectivity control law we consider the encirclement problem as an example of collective control ob- jective. Simulations are provided to corroborate the theoretical results.

Collective control objective and connectivity preservation for multi-robot systems with bounded input / Gasparri, Andrea; Leccese, Antonio; Sabattini, Lorenzo; Ulivi, Giovanni. - ELETTRONICO. - (2014), pp. 813-818. (Intervento presentato al convegno 2014 American Control Conference, ACC 2014 tenutosi a Portland, OR, USA nel 4-6 June 2014) [10.1109/ACC.2014.6859070].

Collective control objective and connectivity preservation for multi-robot systems with bounded input

SABATTINI, Lorenzo;
2014

Abstract

In this work, we address the connectivity main- tenance problem for a team of mobile robots which move according to a given collective control objective. In our frame- work, the interaction among the robots is limited by a given visibility radius both in terms of sensing and communication. For this scenario, we propose a bounded control law which can provably preserve the connectivity of the multi-robot system over time even in the presence of any desired bounded control objective. Furthermore, we characterize the effects of the connectivity control term on the collective control objective, in terms of robustness of the desired control objective to the disturbance of the connectivity, by resorting to the set Input- to-State Stability framework (set-ISS). For the validation of the proposed bounded connectivity control law we consider the encirclement problem as an example of collective control ob- jective. Simulations are provided to corroborate the theoretical results.
2014
2014 American Control Conference, ACC 2014
Portland, OR, USA
4-6 June 2014
813
818
Gasparri, Andrea; Leccese, Antonio; Sabattini, Lorenzo; Ulivi, Giovanni
Collective control objective and connectivity preservation for multi-robot systems with bounded input / Gasparri, Andrea; Leccese, Antonio; Sabattini, Lorenzo; Ulivi, Giovanni. - ELETTRONICO. - (2014), pp. 813-818. (Intervento presentato al convegno 2014 American Control Conference, ACC 2014 tenutosi a Portland, OR, USA nel 4-6 June 2014) [10.1109/ACC.2014.6859070].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1061283
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