Holistic Connectivity Controller for Multirobot Dispersion
Joint Authors
Yang, Yang
Sun, Jiajia
Mi, Zhenqiang
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-05-12
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
Dispersion of mobile robots in a certain formation is prerequisite in many applications; one of the most important issues during the entire process is to maintain the interagent connections, as well as to restore them whenever they were broken.
We investigate the aforementioned problem in this work by designing a holistic connectivity controller (HCC) to regulate and restore the interagent connections during the dispersion of the mobile network.
HCC consists of two core structures.
Firstly, to illustrate the multirobot dispersion, we adopt the distributed link removal algorithm (DLRA), which is able to remove redundant links in the multirobot network to facilitate the dispersion and only requires local information of no more than two-hop neighbors.
Secondly, the proposed approach is extended to the problem of connectivity restoration with consideration of simultaneous failure of multiple agents.
A connectivity restoration strategy is proposed, and then the recoverability of network connectivity is investigated.
The proposed HCC has also integrated motion controller to regulate the movement of the mobile robots, so that interrobot collisions can be effectively avoided.
Theoretical analysis and computer simulations have confirmed the efficiency and scalability of the proposed schemes.
American Psychological Association (APA)
Mi, Zhenqiang& Yang, Yang& Sun, Jiajia. 2013. Holistic Connectivity Controller for Multirobot Dispersion. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-1032042
Modern Language Association (MLA)
Mi, Zhenqiang…[et al.]. Holistic Connectivity Controller for Multirobot Dispersion. Mathematical Problems in Engineering No. 2013 (2013), pp.1-15.
https://search.emarefa.net/detail/BIM-1032042
American Medical Association (AMA)
Mi, Zhenqiang& Yang, Yang& Sun, Jiajia. Holistic Connectivity Controller for Multirobot Dispersion. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-1032042
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032042