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Bounded control of network connectivity in multi-agent systems
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-9940-5929
2010 (engelsk)Inngår i: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 4, nr 8, s. 1330-1338Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

A distributed control law that guarantees connectivity maintenance in a network of multiple mobile agents is presented. The control law, which lets the agents perform formation manoeuvres, respects sensor limitations by allowing each agent to only take into account agents within its sensing radius. In contrast to previous approaches to the problem, the proposed control law does not attain infinite values whenever an edge of the communication graph tends to be lost. This is achieved via the use of decentralised navigation functions, which are bounded potential fields. The navigation functions are defined to take into account the connectivity maintenance objective. The authors first treat the case of connectivity maintenance for a static communication graph and then extend the result to the case of dynamic graphs. The results are illustrated on a formation control problem.

sted, utgiver, år, opplag, sider
2010. Vol. 4, nr 8, s. 1330-1338
Emneord [en]
Bounded controls, Communication graphs, Connectivity maintenance, Control laws, Decentralised, Distributed control law, Dynamic graph, Formation control, Multiple mobile agents, Navigation functions, Potential field, Sensing radius, Sensor limitations, Control theory, Distributed parameter control systems, Maintenance, Mobile agents, Navigation
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Identifikatorer
URN: urn:nbn:se:kth:diva-26682DOI: 10.1049/iet-cta.2009.0229ISI: 000282108800003Scopus ID: 2-s2.0-77955778594OAI: oai:DiVA.org:kth-26682DiVA, id: diva2:373165
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QC 20101130Tilgjengelig fra: 2010-11-30 Laget: 2010-11-26 Sist oppdatert: 2017-12-12bibliografisk kontrollert

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