On maintaining visibility in multi-robot-networks with limited field-of-view sensors

Hasan A. Poonawala, Mark W. Spong

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

4 Scopus citations


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.

Original languageEnglish
Title of host publication2017 American Control Conference, ACC 2017
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

Bibliographical note

Funding Information:
This work is partially supported by the University of Texas at Dallas and DARPA Contract # W911NF-16-1-0001.

Publisher Copyright:
© 2017 American Automatic Control Council (AACC).

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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