Brief paper: A novel approach to coordination of multiple robots with communication failures via proximity graph

  • Authors:

  • Yuan Fan;Gang Feng;Yong Wang;Jianbin Qiu

  • Affiliations:

  • Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong and Department of Automation, University of Science and Technology of China, He ...;Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong and USTC-CityU Suzhou Joint Advanced Research Centre, Suzhou 215123, China and ...;Department of Automation, University of Science and Technology of China, Hefei 230026, China and USTC-CityU Suzhou Joint Advanced Research Centre, Suzhou 215123, China;Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2011

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Abstract

In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space.