Connectivity preserving formation control with collision avoidance for nonholonomic wheeled mobile robots

Aykut C. Satici, Hasan Poonawala, Hazen Eckert, Mark W. Spong

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

19 Scopus citations

Abstract

The preservation of connectivity in mobile robot networks is critical to the success of existing algorithms designed to achieve various goals. The available connectivity control algorithms mainly work through preservation of existing edges in the network. A link may be deleted if distributed decision making determines that the edge is not a cut-bridge. A controller is presented which allows edges to be broken in a continuous manner without higher-level decision making. The controller is based on maximization of the second smallest eigenvalue of the graph Laplacian. The controllers are designed for holonomic robots, and are extended for implementation on non-holonomic wheeled mobile robots. Finally, the performance of the extended controllers are demonstrated experimentally.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages5080-5086
Number of pages7
DOIs
StatePublished - 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/TerritoryJapan
CityTokyo
Period11/3/1311/8/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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