To accomplish cooperative tasks, robotic systems are often required to communicate with each other. Thus, maintaining connectivity of the interagent communication graph is a fundamental issue in the field of multi-robot systems. In this paper we present a completely decentralized control strategy for global connectivity maintenance of the interagent communication graph. We describe a gradient-based control strategy that exploits decentralized estimation of the algebraic connectivity. The proposed control algorithm guarantees the global connectivity of the communication graph without requiring maintenance of the local connectivity between the robotic systems. The control strategy is validated by means of an analytical proof and simulative results.
On Decentralized Connectivity Maintenance for Mobile Robotic System / Sabattini, Lorenzo; N., Chopra; Secchi, Cristian. - ELETTRONICO. - (2011), pp. 988-993. (Intervento presentato al convegno 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 tenutosi a Orlando, FL, USA nel 12-15 Dec. 2011) [10.1109/CDC.2011.6161067].
On Decentralized Connectivity Maintenance for Mobile Robotic System
SABATTINI, Lorenzo;SECCHI, Cristian
2011
Abstract
To accomplish cooperative tasks, robotic systems are often required to communicate with each other. Thus, maintaining connectivity of the interagent communication graph is a fundamental issue in the field of multi-robot systems. In this paper we present a completely decentralized control strategy for global connectivity maintenance of the interagent communication graph. We describe a gradient-based control strategy that exploits decentralized estimation of the algebraic connectivity. The proposed control algorithm guarantees the global connectivity of the communication graph without requiring maintenance of the local connectivity between the robotic systems. The control strategy is validated by means of an analytical proof and simulative results.
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