Bounded control law for global connectivity maintenance in cooperative multirobot systems
| Autor: | Andrea Gasparri, Giovanni Ulivi, Lorenzo Sabattini |
|---|---|
| Přispěvatelé: | Gasparri, Andrea, Sabattini, Lorenzo, Ulivi, Giovanni |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Multirobot systems Engineering Control objective business.industry Distributed computing Visibility (geometry) Control (management) Computer Science Applications1707 Computer Vision and Pattern Recognition 02 engineering and technology Maintenance engineering Computer Science Applications Term (time) Maintenance Problem 020901 industrial engineering & automation Control and Systems Engineering Law Bounded function 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Distributed robot systems Global connectivity maintenance Networked robots Nonsmooth analysis Electrical and Electronic Engineering business |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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