In this work, the decentralized control law proposed in [Sabattini et al., 2011b] for multi-robot connectivity maintenance is enhanced by means of a selective action. The idea is to identify critical agents, i.e. agents for which a disconnection might cause the split of the communication graph, and limit the control action to those agents. The objective is twofold: to reduce the control effort introduced by the connectivity maintenance control action as well as to avoid unnecessary action of the connectivity maintenance controller, thus reducing its effect on the overall performances of the system. A theoretical analysis of the proposed control law is discussed. Simulations along with experimental results are given to corroborate the theoretical results.

Enhanced Connectivity Maintenance for Multi-Robot Systems / Sabattini, Lorenzo; A., Gasparri; Secchi, Cristian; N., Chopra. - ELETTRONICO. - 10:(2012), pp. 319-324. (Intervento presentato al convegno 10th IFAC Symposium on Robot Control tenutosi a Dubrovnick, Croatia nel 5-7/09/2012) [10.3182/20120905-3-HR-2030.00030].

Enhanced Connectivity Maintenance for Multi-Robot Systems

SABATTINI, Lorenzo;SECCHI, Cristian;
2012

Abstract

In this work, the decentralized control law proposed in [Sabattini et al., 2011b] for multi-robot connectivity maintenance is enhanced by means of a selective action. The idea is to identify critical agents, i.e. agents for which a disconnection might cause the split of the communication graph, and limit the control action to those agents. The objective is twofold: to reduce the control effort introduced by the connectivity maintenance control action as well as to avoid unnecessary action of the connectivity maintenance controller, thus reducing its effect on the overall performances of the system. A theoretical analysis of the proposed control law is discussed. Simulations along with experimental results are given to corroborate the theoretical results.
2012
10th IFAC Symposium on Robot Control
Dubrovnick, Croatia
5-7/09/2012
10
319
324
Sabattini, Lorenzo; A., Gasparri; Secchi, Cristian; N., Chopra
Enhanced Connectivity Maintenance for Multi-Robot Systems / Sabattini, Lorenzo; A., Gasparri; Secchi, Cristian; N., Chopra. - ELETTRONICO. - 10:(2012), pp. 319-324. (Intervento presentato al convegno 10th IFAC Symposium on Robot Control tenutosi a Dubrovnick, Croatia nel 5-7/09/2012) [10.3182/20120905-3-HR-2030.00030].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/858493
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