In order to accomplish cooperative tasks, multi– robot systems are required to communicate among each other. Thus, maintaining the connectivity of the communication graph is a fundamental issue. Connectivity maintenance has been extensively studied in the last few years, but generally con- sidering only kinematic agents. In this paper we will introduce a control strategy that, exploiting a decentralized procedure for the estimation of the algebraic connectivity of the graph, ensures the connectivity maintenance for groups of Lagrangian systems. The control strategy is validated by means of analytical proofs and simulation results.
Decentralized Connectivity Maintenance for Networked Lagrangian Dynamical Systems / Sabattini, Lorenzo; Secchi, Cristian; N., Chopra. - ELETTRONICO. - (2012), pp. 2433-2438. (Intervento presentato al convegno 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 tenutosi a St. Paul, MN, USA nel 14-18/05/2012) [10.1109/ICRA.2012.6224857].
Decentralized Connectivity Maintenance for Networked Lagrangian Dynamical Systems
SABATTINI, Lorenzo;SECCHI, Cristian;
2012
Abstract
In order to accomplish cooperative tasks, multi– robot systems are required to communicate among each other. Thus, maintaining the connectivity of the communication graph is a fundamental issue. Connectivity maintenance has been extensively studied in the last few years, but generally con- sidering only kinematic agents. In this paper we will introduce a control strategy that, exploiting a decentralized procedure for the estimation of the algebraic connectivity of the graph, ensures the connectivity maintenance for groups of Lagrangian systems. The control strategy is validated by means of analytical proofs and simulation results.
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