Distributed Algebraic Connectivity Maximization for Robotic Networks: A Heuristic Approach
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چکیده
We consider a weighted communication graph in a network of mobile robots, and its associated Laplacian whose entries depend on the pairwise distance between the robots. We propose a heuristic distributed solution for the maximization of the algebraic connectivity of the graph by moving the robots to appropriate positions. Our approach is optimization-based and can be extended to handle various constraints, such as the robots' dynamics. Distributed Algebraic Connectivity Maximization for Robotic Networks: A Heuristic Approach
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تاریخ انتشار 2010