Bounded Control Law for Global Connectivity Maintenance in Cooperative Multirobot Systems
In this paper, we address the connectivity maintenance problem for a multirobot system that moves according to a given bounded collective control objective. We assume that the interaction among the robotic units is limited by a given visibility radius both in terms of sensing and communication capab...
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| Published in: | IEEE transactions on robotics Vol. 33; no. 3; pp. 700 - 717 |
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| Main Authors: | , , |
| Format: | Journal Article |
| Language: | English |
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New York
IEEE
01.06.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 1552-3098, 1941-0468 |
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| Abstract | In this paper, we address the connectivity maintenance problem for a multirobot system that moves according to a given bounded collective control objective. We assume that the interaction among the robotic units is limited by a given visibility radius both in terms of sensing and communication capabilities. For this scenario, we propose a decentralized bounded control law that can provably preserve the connectivity of the multirobot system over time. We characterize the effect of the connectivity control term on the achievement of the collective control objective by resorting to an input-to-state stability-like analysis. We provide numerical and experimental results to corroborate the theoretical findings and assess the effectiveness of the proposed bounded connectivity maintenance control law. |
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| AbstractList | In this paper, we address the connectivity maintenance problem for a multirobot system that moves according to a given bounded collective control objective. We assume that the interaction among the robotic units is limited by a given visibility radius both in terms of sensing and communication capabilities. For this scenario, we propose a decentralized bounded control law that can provably preserve the connectivity of the multirobot system over time. We characterize the effect of the connectivity control term on the achievement of the collective control objective by resorting to an input-to-state stability-like analysis. We provide numerical and experimental results to corroborate the theoretical findings and assess the effectiveness of the proposed bounded connectivity maintenance control law. |
| Author | Ulivi, Giovanni Gasparri, Andrea Sabattini, Lorenzo |
| Author_xml | – sequence: 1 givenname: Andrea surname: Gasparri fullname: Gasparri, Andrea email: gasparri@dia.uniroma3.it organization: Dept. of Eng., Roma Tre Univ., Rome, Italy – sequence: 2 givenname: Lorenzo surname: Sabattini fullname: Sabattini, Lorenzo email: lorenzo.sabattini@unimore.it organization: Dept. of Sci. & Methods for Eng., Univ. of Modena & Reggio Emilia, Modena, Italy – sequence: 3 givenname: Giovanni surname: Ulivi fullname: Ulivi, Giovanni email: ulivi@dia.uniroma3.it organization: Dept. of Eng., Roma Tre Univ., Rome, Italy |
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| SubjectTerms | Connectivity Control stability Control systems Control theory Distributed robot systems Estimation global connectivity maintenance Maintenance Maintenance engineering Multi-robot systems Multiple robots networked robots nonsmooth analysis Optimization Robot sensing systems Stability analysis Topology Visibility |
| Title | Bounded Control Law for Global Connectivity Maintenance in Cooperative Multirobot Systems |
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