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.

Bounded control law for global connectivity maintenance in cooperative multirobot systems / Gasparri, Andrea; Sabattini, Lorenzo; Ulivi, Giovanni. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 33:3(2017), pp. 700-717. [10.1109/TRO.2017.2664883]

Bounded control law for global connectivity maintenance in cooperative multirobot systems

Gasparri, Andrea;Sabattini, Lorenzo;
2017

Abstract

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.
2017
33
3
700
717
Bounded control law for global connectivity maintenance in cooperative multirobot systems / Gasparri, Andrea; Sabattini, Lorenzo; Ulivi, Giovanni. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 33:3(2017), pp. 700-717. [10.1109/TRO.2017.2664883]
Gasparri, Andrea; Sabattini, Lorenzo; Ulivi, Giovanni
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1156065
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