Title :
Distributed connectivity control of car-like robot networks
Author :
Ni Zhang ; Liwei Yuan ; Xiongxiong He
Author_Institution :
Coll. of Inf. Eng., Zhejiang Univ. of Technol., Hangzhou, China
Abstract :
This paper investigates communication connectivity control of mobile car-like robot networks. Employing algebraic graph theory, LaSalle invariant and negative gradient algorithm, the distributed control laws are proposed to maintain the communication connectivity of mobile car-like robots. With the control laws, robots can achieve the maximum connectivity topology. The simulation illustrates the effectiveness of the presented control laws.
Keywords :
algebra; distributed control; gradient methods; graph theory; mobile robots; motion control; LaSalle invariant; algebraic graph theory; communication connectivity control; distributed connectivity control; distributed control laws; maximum connectivity topology; mobile car-like robot networks; motion control; negative gradient algorithm; Collision avoidance; Eigenvalues and eigenfunctions; Mobile robots; Multi-robot systems; Robot sensing systems; Topology; Distributed Control; Mobile Robot Networks; Network Connectivity; Supergradient Optimization;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162477
