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Bounded control of network connectivity in multi-agent systems
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2010 (English)In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 4, no 8, 1330-1338 p.Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
2010. Vol. 4, no 8, 1330-1338 p.
Keyword [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
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-26682DOI: 10.1049/iet-cta.2009.0229ISI: 000282108800003Scopus ID: 2-s2.0-77955778594OAI: oai:DiVA.org:kth-26682DiVA: diva2:373165
Note
QC 20101130Available from: 2010-11-30 Created: 2010-11-26 Last updated: 2017-12-12Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl H.

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