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.
来源信息年:2017  卷:5  页码范围:9398-9414  
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
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)  
所属部门自动化科学与电气工程学院
DOI10.1109/ACCESS.2017.2708422
学科计算机:信息系统;工程:电子与电气;电信学
人气指数21
浏览次数21
基金Industrial Technology Development Program [B1120131046]
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