Title :
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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224857
