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 Leader-following Rendezvous Control Design for the Cucker-Smale Model on the Infinite Cylinder
Xiaoyu Li,Yuhu Wu +1 more
- 06 Dec 2022
TL;DR: In this article , a leader-following rendezvous problem for the Cucker-Smale model on the infinite cylinder was considered and a feedback control law was designed to ensure that the positions of all followers asymptotically track the trajectory of the moving leader.
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Distributed estimation and control for robotic sensor networks
Charles Freundlich,Soomin Lee,Michael M. Zavlanos +2 more
- 01 Dec 2016
TL;DR: The network is addressed by means of a new distributed random approximate projections method that is robust to the state disagreement errors that will exist among the robots as the distributed filter fuses the collected measurements and is computationally light enough to handle large numbers of hidden states.
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Outage probability analysis of two relay decode and forward cooperative communications
T. Swapna,K. Sivani,K. Kishan Rao +2 more
- 02 Apr 2015
TL;DR: Numerical analysis shows that the best achieved relays-destination distances and coverage area of the cooperative systems for a certain threshold on the outage probability.
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On topological conditions to maintain leader-follower connectivity in double-integrator multi-agent systems
Philipp N. Kohler,Dimos V. Dimarogonas +1 more
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TL;DR: A connectivity analysis framework is established which is used to show that the initial network topology is maintained if the ratio of leaders-to-followers and the magnitude of the goal attraction force experienced by the leaders are below certain bounds.
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Planning of Communication and Motion Strategies for Networked Mobile Robots
Shirin Rahmanpour,Reza Mahboobi Esfanjani +1 more
- 01 Dec 2018
TL;DR: The proposed scheme leads to the efficient use of available robots which reduces the size of the robotic team and solves the convex optimization problem so that the assigned tasks are completed with optimal consumption of energy resources and avoiding inter-robot collisions.
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