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

Hasan A. Poonawala; Mark W. Spong

doi:10.23919/ACC.2017.7963727

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

Hasan A. Poonawala
, Mark W. Spong

Mechanical and Aerospace Engineering

Producción científica: Conference contribution › revisión exhaustiva

4 Citas (Scopus)

Resumen

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.

Idioma original	English
Título de la publicación alojada	2017 American Control Conference, ACC 2017
Páginas	4983-4988
Número de páginas	6
ISBN (versión digital)	9781509059928
DOI	https://doi.org/10.23919/ACC.2017.7963727
Estado	Published - jun 29 2017
Evento	2017 American Control Conference, ACC 2017 - Seattle, United States Duración: may 24 2017 → may 26 2017

Serie de la publicación

Nombre	Proceedings of the American Control Conference
ISSN (versión impresa)	0743-1619

Conference

Conference	2017 American Control Conference, ACC 2017
País/Territorio	United States
Ciudad	Seattle
Período	5/24/17 → 5/26/17

Nota bibliográfica

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

Financiación

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

Financiadores	Número del financiador
Defense Advanced Research Projects Agency	W911NF-16-1-0001
University of Texas at Dallas

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.23919/ACC.2017.7963727

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title = "On maintaining visibility in multi-robot-networks with limited field-of-view sensors",

abstract = "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.",

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N2 - 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.

AB - 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.

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BT - 2017 American Control Conference, ACC 2017

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ER -

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

Resumen

Serie de la publicación

Conference

Nota bibliográfica

Financiación

ASJC Scopus subject areas

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