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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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 33; no. 3; pp. 700 - 717
Main Authors: Gasparri, Andrea, Sabattini, Lorenzo, Ulivi, Giovanni
Format: Journal Article
Language:English
Published: New York IEEE 01.06.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
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
ISSN:1552-3098, 1941-0468
Online Access:Get full text
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Summary: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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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2017.2664883