文献详情
Distributed Global Connectivity Maintenance and Control of Multi-Robot Networks
文献类型期刊
作者Cai, Da[1];Wu, Sentang[2];Deng, Jia[3]
机构
通讯作者Cai, D (reprint author), Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China.
2017
期刊名称IEEE ACCESS影响因子和分区
来源信息年:2017  卷:5  页码范围:9398-9414  
5
期刊信息IEEE ACCESS影响因子和分区  ISSN:2169-3536
关键词Distributed multi-robot systems; global connectivity control; global connectivity maintenance; multi-robot networks; online connectivity adaptation
页码范围9398-9414
增刊正刊
摘要In this paper, we propose a distributed global connectivity maintenance and control framework of multi-robot networks, which can adapt connectivity online. Based on a series of energy functions, the control framework can make each robot autonomously move along the direction of gradient descent of the energy functions in order to reach the desired global connectivity of the multi-robot networks. This framework has enhanced adaptability and flexibility of multi-robot systems, because adapting connectivity online enables the system to maintain, promote or degrade connectivity at different stages of an integrated mission which require different desired connectivity values. Online connectivity adaptation can also help to change connectivity when the environment becomes more complicated, unknown and dynamic. Theorems are proposed to prove that the framework can not only maintain global connectivity, but can also effectively adapt global connectivity to desired values online, which has rarely been studied. Furthermore, connectivity promotion in the presence of bounded external control terms, such as collision avoidance, is also investigated, which helps to expand the scope of the framework. Finally, simulation and experiment results are presented so as to validate our unified control framework.
收录情况SCIE(WOS:000404270600064)  EI(20173604137133)  
所属部门自动化科学与电气工程学院
DOI10.1109/ACCESS.2017.2708422
百度学术Distributed Global Connectivity Maintenance and Control of Multi-Robot Networks
语言外文
ISSN2169-3536
人气指数64
浏览次数64
基金Industrial Technology Development Program [B1120131046]
全部评论(0 条评论)
作者其他论文

随机系统的后验椭球条件滤波方法.

吴森堂.北京航空航天大学学报.1999,25(2),160-162.

基于随机鲁棒分析的输出反馈特征结构配置.

金宪哲;吴森堂.北京航空航天大学学报.2011,37(4),487-491.

Tracking of infrared radiation dim target based on mean-shift and particle filter.

Chang, Le;Liu, Zhenghua;Wu, Sentang.6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014.2015,671-675.

Consensus of second-order multi-agent systems.

Hu, Nanxi;Wu, Sentang.2012 4th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2012.2012,1,29-33.

Analysis and Design of Control System for Aerodynamic Missile with Large Impact Angle.

Bao, Yiming;Wu, Sentang.22nd Chinese Control and Decision Conference.2010,2743-2747.

登录