ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.10

Mi, Zhenqiang (University of Science and Technology Beijing), Yang, Yang (University of Science and Technoly Beijing), Liu, Guangjun (Ryerson University)

HERO: A Hybrid Connectivity Restoration Framework for Mobile Multi-Agent Networks

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Networked Robots, Autonomous Agents, Failure Detection and Recovery


In mobile multi-agent networks, connectivity is a crucial factor for network-wide collaborations. However, such connectivity can be easily sabotaged by a single or multiple simultaneous agent failure(s). To handle this problem, in this paper, a hybrid connectivity restoration framework, namely HERO, is developed. By integrating a distributed connectivity restoration algorithm with a potential function based motion controller, HERO can restore the connectivity of disconnected networks subjected to a single or multiple simultaneous agent failure(s). In the mean-time, inter-agent collisions and further partitions of the underlying networks can also be effectively avoided under the proposed restoration framework.



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