Decentralized connectivity maintenance for networked Lagrangian dynamical systems

Author

Sabattini, Lorenzo ; Secchi, Cristian ; Chopra, Nikhil

Author_Institution

Dept. of Eng. Sci. & Methods (DISMI), Univ. of Modena & Reggio Emilia, Modena, Italy

fYear

2012

fDate

14-18 May 2012

Firstpage

2433

Lastpage

2438

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 considering 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.

Keywords

cooperative systems; decentralised control; graph theory; maintenance engineering; multi-robot systems; networked control systems; robot kinematics; time-varying systems; Lagrangian systems groups; algebraic graph connectivity estimation; analytical proofs; communication graph connectivity; control strategy; cooperative tasks; decentralized connectivity maintenance; decentralized procedure; kinematic agents; multirobot systems; networked Lagrangian dynamical systems; Estimation; Laplace equations; Maintenance engineering; Mobile robots; Robot kinematics; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Conference_Location

Saint Paul, MN

ISSN

1050-4729

Print_ISBN

978-1-4673-1403-9

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ICRA.2012.6224857

Filename

6224857