TY - GEN
T1 - Connectivity preserving formation control with collision avoidance for nonholonomic wheeled mobile robots
AU - Satici, Aykut C.
AU - Poonawala, Hasan
AU - Eckert, Hazen
AU - Spong, Mark W.
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84893748575&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893748575&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6697091
DO - 10.1109/IROS.2013.6697091
M3 - Conference contribution
AN - SCOPUS:84893748575
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5080
EP - 5086
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -