Open Access
Graph-Theoretic Connectivity Control of Mobile Robot Networks This paper develops an analysis for groups of vehicles connected by a communication network; control laws are formulated to accomplish tasks requiring rendezvous, and swarm in group formations.
Michael M. Zavlanos,Magnus Egerstedt,George J. Pappas +2 more
- 01 Jan 2011
TL;DR: A graph-theoretic definition of connectivity is provided, as well as an equivalent definition based on algebraic graph theory, which employs the adjacency and Laplacian matrices of the graph and their spectral properties.
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Abstract: In this paper, we provide a theoretical framework for controlling graph connectivity in mobile robot networks. We discuss proximity-based communication models composed of disk-based or uniformly-fading-signal-strength communica- tion links. A graph-theoretic definition of connectivity is pro- vided, as well as an equivalent definition based on algebraic graph theory, which employs the adjacency and Laplacian matrices of the graph and their spectral properties. Based on these results, we discuss centralized and distributed algorithms to maintain, increase, and control connectivity in mobile robot networks. The various approaches discussed in this paper range from convex optimization and subgradient-descent algo- rithms, for the maximization of the algebraic connectivity of the network, to potential fields and hybrid systems that main- tain communication links or control the network topology in a least restrictive manner. Common to these approaches is the use of mobility to control the topology of the underlying com- munication network. We discuss applications of connectivity control to multirobot rendezvous, flocking and formation con- trol, where so far, network connectivity has been considered an assumption.
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Citations
A nullcline-based control strategy for PWL-shaped oscillators
TL;DR: A control strategy relying on phase portrait reshaping through the manipulation of their nullclines in order to fulfil both phase and time requirements is presented, supported by key applications to bioinspired locomotion control in legged robots.
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Multi-agent formation control with maintaining and controlling network connectivity
Rajdeep Dutta,Liang Sun,Daniel Pack +2 more
- 01 Aug 2016
TL;DR: Simulation results validate the effectiveness of the decentralized formation controller in controlling as well as maintaining connectivity.
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Shortest path set induced vertex ordering and its application to distributed distance optimal formation path planning and control on graphs
Jingjin Yu,Steven M. LaValle +1 more
- 01 Jan 2013
TL;DR: This study establishes the existence of a more fundamental ordering of the vertices on the underlying graph network, induced by a fixed goal formation, and leads to a simple distributed scheduling algorithm that assures the same convergence time.
Distributed Global Connectivity Maintenance and Control of Multi-Robot Networks
Da Cai,Sentang Wu,Jia Deng +2 more
TL;DR: Theorems are proposed to prove that the framework can not only maintain global connectivity, but can also effectively adapt global connectivity to desired values online, which has rarely been studied.
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Combined Top-down and Bottom-up Approach to Cooperative Distributed Multi-agent Control with Connectivity Constraints
TL;DR: A novel framework to synthesize coordination and control strategies for multi-agent systems from team tasks that are in the form of regular languages specifying service requests is proposed and an example of a robotic system is presented.
15
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