TY - GEN
T1 - Ensuring network connectivity for nonholonomic robots during decentralized rendezvous
AU - Kan, Z.
AU - Klotz, J.
AU - Cheng, Teng-Hu
AU - Dixon, W. E.
PY - 2012/11/26
Y1 - 2012/11/26
N2 - In a multi-robot system, robots are typically required to collaborate over a communication network to achieve objectives cooperatively. Due to the limited communication and sensing capabilities on each robot, the cooperative objective must be accomplished while ensuring that specified robots stay within each other's sensing and communication ranges and that the overall network remains connected. In this paper, a dipolar navigation function and corresponding time-varying continuous controller is developed for repositioning and reorienting a group of wheeled robots with nonholonomic constraints. Only local sensing feedback information from neighbors is used to navigate the robots and maintain network connectivity, which indicates that communication is available when required for various tasks, but communication is not required for navigation. Simulation results demonstrate the performance of the developed approach.
AB - In a multi-robot system, robots are typically required to collaborate over a communication network to achieve objectives cooperatively. Due to the limited communication and sensing capabilities on each robot, the cooperative objective must be accomplished while ensuring that specified robots stay within each other's sensing and communication ranges and that the overall network remains connected. In this paper, a dipolar navigation function and corresponding time-varying continuous controller is developed for repositioning and reorienting a group of wheeled robots with nonholonomic constraints. Only local sensing feedback information from neighbors is used to navigate the robots and maintain network connectivity, which indicates that communication is available when required for various tasks, but communication is not required for navigation. Simulation results demonstrate the performance of the developed approach.
UR - http://www.scopus.com/inward/record.url?scp=84869383852&partnerID=8YFLogxK
U2 - 10.1109/ACC.2012.6314993
DO - 10.1109/ACC.2012.6314993
M3 - Conference contribution
AN - SCOPUS:84869383852
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 3718
EP - 3723
BT - 2012 American Control Conference, ACC 2012
T2 - 2012 American Control Conference, ACC 2012
Y2 - 27 June 2012 through 29 June 2012
ER -