Decentralized Connectivity Maintenance for Networked Lagrangian Dynamical Systems with Collision Avoidance
نویسندگان
چکیده
In order to accomplish cooperative tasks, multi–robot systems are required to communicate among each other. This inter–robot communication can be modeled as a graph. Thus, maintaining the connectivity of the communication graph is a fundamental issue in cooperative robotic systems. Connectivity maintenance has been extensively studied in the last few years, but generally considering only kinematic agents. In this paper we introduce a control strategy which, by exploiting a decentralized procedure for the estimation of the algebraic connectivity of the graph, ensures connectivity maintenance for groups of Lagrangian systems. Collision avoidance control actions are also integrated with the connectivity maintenance algorithm. The control strategy is validated by means of analytical proofs and simulation results.
منابع مشابه
Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of R with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees ...
متن کاملDecentralized Global Connectivity Maintenance for Interconnected Lagrangian Systems with Communication Delays
In order to accomplish cooperative tasks, multi–robot systems are required to communicate among each other. Thus, maintaining the connectivity of the communication graph is a fundamental issue. In this paper we extend the connectivity maintenance control strategy introduced in (Sabattini et al., 2012), in order to explicitly take into account the presence of communication delays. When dealing w...
متن کاملDecentralized Coordinated Motion for Robot Teams Preserving Connectivity and Avoiding Collisions
In this thesis, we consider the general problem of moving a large number of networked robots toward a goal position through a cluttered environment under constraints on network connectivity and collision avoidance. In contrast to previous approaches that either plan complete paths for each individual robot in the highdimensional joint configuration space or control the robot group as a whole wi...
متن کاملMode Switching Decentralized Multi-Agent Coordination under Local Temporal Logic Tasks
This paper presents a novel control strategy for the coordination of a multi-agent system subject to highlevel goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order dynamics, has to satisfy a given local temporal logic specification subject to connectivity maintenance and inter-agent collision avoidance. We propose a novel cont...
متن کاملCooperative Set Aggregation for Multiple Lagrangian Systems
In this paper, we study the cooperative set tracking problem for a group of Lagrangian systems. Each system observes a convex set as its local target. The intersection of these local sets is the group aggregation target. We first propose a control law based on each system’s own target sensing and information exchange with neighbors. With necessary connectivity for both cases of fixed and switch...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013