The network connectivity in a group of cooperative robots can be easily broken if one of them loses its connectivity with the rest of the group. In case of having robustness with respect to one-robot failure, the communication network is termed biconnected. In simple words, to have a biconnected network graph, we need to prove that no articulation point exists. We propose a decentralized approach that provides sufficient conditions for biconnectivity of the network, and we prove that these conditions are related to the third smallest eigenvalue of the Laplacian matrix. Data exchange among the robots is supposed to be neighbor-to-neighbor.

Decentralized biconnectivity conditions in multi-robot systems / Zareh, Mehran; Sabattini, Lorenzo; Secchi, Cristian. - (2016), pp. 99-104. ( 55th IEEE Conference on Decision and Control, CDC 2016 ARIA Resort and Casino, usa 2016) [10.1109/CDC.2016.7798253].

Decentralized biconnectivity conditions in multi-robot systems

Zareh, Mehran;Sabattini, Lorenzo;Secchi, Cristian
2016

Abstract

The network connectivity in a group of cooperative robots can be easily broken if one of them loses its connectivity with the rest of the group. In case of having robustness with respect to one-robot failure, the communication network is termed biconnected. In simple words, to have a biconnected network graph, we need to prove that no articulation point exists. We propose a decentralized approach that provides sufficient conditions for biconnectivity of the network, and we prove that these conditions are related to the third smallest eigenvalue of the Laplacian matrix. Data exchange among the robots is supposed to be neighbor-to-neighbor.
2016
no
Inglese
55th IEEE Conference on Decision and Control, CDC 2016
ARIA Resort and Casino, usa
2016
2016 IEEE 55th Conference on Decision and Control, CDC 2016
99
104
9781509018376
Institute of Electrical and Electronics Engineers Inc.
345 E 47TH ST, NEW YORK, NY 10017 USA
Artificial Intelligence; Decision Sciences (miscellaneous); Control and Optimization
Zareh, Mehran; Sabattini, Lorenzo; Secchi, Cristian
Atti di CONVEGNO::Relazione in Atti di Convegno
273
3
Decentralized biconnectivity conditions in multi-robot systems / Zareh, Mehran; Sabattini, Lorenzo; Secchi, Cristian. - (2016), pp. 99-104. ( 55th IEEE Conference on Decision and Control, CDC 2016 ARIA Resort and Casino, usa 2016) [10.1109/CDC.2016.7798253].
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info:eu-repo/semantics/conferenceObject
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1156964
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