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CDC
2008
IEEE

Distributed motion constraints for algebraic connectivity of robotic networks

14 years 6 months ago
Distributed motion constraints for algebraic connectivity of robotic networks
— This paper studies connectivity maintenance of robotic networks that communicate at discrete times and move in continuous space. We propose a distributed algorithm that allows the robots to decide whether a desired collective motion breaks connectivity. Our algorithm works under imperfect information caused by delays in communication and the robots’ mobility. We analyze the correctness of our algorithm by formulating it as a game against a hypothetical adversary who chooses system states consistent with observed information. The technical approach combines tools from algebraic graph theory, linear algebra, nonsmooth analysis, and systems and control.
Michael Schuresko, Jorge Cortés
Added 29 May 2010
Updated 29 May 2010
Type Conference
Year 2008
Where CDC
Authors Michael Schuresko, Jorge Cortés
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