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Graph Theoretic Connectivity Control of Mobile Robot Networks


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In this paper we provide a theoretical frameworkfor controlling graph connectivity in mobile robot networks.We discuss proximity-based communication models composed ofdisk-based or uniformly fading signal strength communicationlinks.
A graph theoretic definition of connectivity is provided,as well as an equivalent definition based on algebraic graphtheory, which employs the adjacency and Laplacian matrices ofthe graph and their spectral properties.
Based on these results,we discuss centralized and distributed algorithms to maintain,increase, and control connectivity in mobile robot networks.The various approaches discussed in this paper range fromconvex optimization and subgradient descent algorithms, for themaximization of the algebraic connectivity of the network, topotential fields and hybrid systems that maintain communicationlinks or control the network topology in a least restrictive manner.Common to these approaches is the use of mobility to control thetopology of the underlying communication network.
We discussapplications of connectivity control to multi-robot rendezvous,flocking and formation control, where so far, network connectivityhas been considered an assumption.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Autor: Zavlanos, Michael M.
- Egerstedt, Magnus B.
- Pappas, George J.
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Fuente: https://smartech.gatech.edu/



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