A multi-robot team can be endowed with a sensing graph whose edges indicate when one robot is visible to another. Visibility enables the robots to measure each others' relative position. The performance of different multi-robot coordination algorithms are therefore dependent on the connectivity properties of the sensing graph. Many coordination methods assume that the sensing graph is undirected. When the robots are equipped with limited field-of-view sensors, the sensing graph becomes directed. This paper provides a control algorithm to maintain the strong connectivity of a directed sensing graph in the presence of bounded persistent disturbances.
|Title of host publication||2017 American Control Conference, ACC 2017|
|Number of pages||6|
|State||Published - Jun 29 2017|
|Event||2017 American Control Conference, ACC 2017 - Seattle, United States|
Duration: May 24 2017 → May 26 2017
|Name||Proceedings of the American Control Conference|
|Conference||2017 American Control Conference, ACC 2017|
|Period||5/24/17 → 5/26/17|
Bibliographical noteFunding Information:
This work is partially supported by the University of Texas at Dallas and DARPA Contract # W911NF-16-1-0001.
© 2017 American Automatic Control Council (AACC).
ASJC Scopus subject areas
- Electrical and Electronic Engineering