Preserving connectivity of a network topology is a crucial aspect for multi-robot systems in order to perform almost any collaborative task. This problem turns out to be significantly challenging in the case of a heterogeneous multi-robot system equipped with different sensors with limited field of view. Such an interaction scheme, in fact, is described by directed graphs (digraphs), for which, a few approaches have still been presented in literature. This paper addresses the problem of estimating an approximated minimum strongly connected digraph contained in a given digraph. A novel decentralized approach is proposed and its suitability is confirmed by simulations.
Decentralized topology control for robotic networks with limited field of view sensors / Di Paola, Donato; De Asmundis, Roberta; Gasparri, Andrea; Rizzo, Alessandro. - STAMPA. - (2012), pp. 3167-3172. (Intervento presentato al convegno American Control Conference, ACC 2012 tenutosi a Montreal, Canada nel June 27-29, 2012) [10.1109/ACC.2012.6315292].
Decentralized topology control for robotic networks with limited field of view sensors
Donato Di Paola;Alessandro Rizzo
2012-01-01
Abstract
Preserving connectivity of a network topology is a crucial aspect for multi-robot systems in order to perform almost any collaborative task. This problem turns out to be significantly challenging in the case of a heterogeneous multi-robot system equipped with different sensors with limited field of view. Such an interaction scheme, in fact, is described by directed graphs (digraphs), for which, a few approaches have still been presented in literature. This paper addresses the problem of estimating an approximated minimum strongly connected digraph contained in a given digraph. A novel decentralized approach is proposed and its suitability is confirmed by simulations.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
