ICRA 2012 Paper Abstract

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Paper WeB04.4

Sabattini, Lorenzo (University of Modena and Reggio Emilia), Secchi, Cristian (Univ. of Modena & Reggio Emilia), Chopra, Nikhil (University of Maryland, College Park)

Decentralized Connectivity Maintenance for Networked Lagrangian Dynamical Systems

Scheduled for presentation during the Regular Session "Networked Robots" (WeB04), Wednesday, May 16, 2012, 11:15−11:30, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 19, 2017

Keywords Networked Robots, Distributed Robot Systems, Sensor Networks

Abstract

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. Connectivity maintenance has been extensively studied in the last few years, but generally considering only kinematic agents. In this paper we will introduce a control strategy that, exploiting a decentralized procedure for the estimation of the algebraic connectivity of the graph, ensures the connectivity maintenance for groups of Lagrangian systems. The control strategy is validated by means of analytical proofs and simulation results.

 

 

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