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Decentralized connectivity maintenance in mobile networks with bounded inputs
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
2008 (English)In: 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 2008, 1507-1512 p.Conference paper, Published paper (Refereed)
Abstract [en]

A distributed control law that guarantees connectivity maintenance in a network of multiple mobile agents is presented. The control law respects the limited sensing capabilities of the agents by allowing each agent to take into account only agents within its sensing radius in the controller implementation. In contrast to previous approaches to the problem, the proposed control law does not attain infinite values whenever an edge tends to be lost, and is therefore a bounded distributed control law. This is achieved via the use of decentralized navigation functions which are potential fields with guaranteed boundedness and are redefined in this paper in order to take into account the connectivity maintenance objective. We first treat the case of connectivity maintenance in a static initial position based communication graph and extend the results to the case of dynamic edge addition. The results are then applied to a formation control problem.

Place, publisher, year, edition, pages
2008. 1507-1512 p.
Series
IEEE international conference on robotics and automation, ISSN 1050-4729
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-26530DOI: 10.1109/ROBOT.2008.4543415ISI: 000258095001027Scopus ID: 2-s2.0-51649108661OAI: oai:DiVA.org:kth-26530DiVA: diva2:385711
Conference
IEEE International Conference on Robotics and Automation Pasadena, CA, MAY 19-23, 2008
Note
QC 20110112Available from: 2011-01-12 Created: 2010-11-25 Last updated: 2012-02-01Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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