A dynamical systems approach to weighted graph matching
Automatica (Journal of IFAC)
Distributed Tree Rearrangements for Reachability and Robust Connectivity
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Backbone-based connectivity control for mobile networks
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Brief paper: Decentralized estimation and control of graph connectivity for mobile sensor networks
Automatica (Journal of IFAC)
Direction election in flocking swarms
Proceedings of the 6th International Workshop on Foundations of Mobile Computing
Brief paper: Visibility maintenance via controlled invariance for leader-follower vehicle formations
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Connectivity preservation for multi-agent rendezvous with link failure
Automatica (Journal of IFAC)
Active leading through obstacles using ant-colony algorithm
Neurocomputing
A passivity-based decentralized strategy for generalized connectivity maintenance
International Journal of Robotics Research
Formation Control of Multiple Groups of Nonholonomic Wheeled Mobile Robots
Proceedings of Conference on Advances In Robotics
Decentralized connectivity maintenance for cooperative control of mobile robotic systems
International Journal of Robotics Research
Capt: Concurrent assignment and planning of trajectories for multiple robots
International Journal of Robotics Research
Hi-index | 0.01 |
The control of mobile networks of multiple agents raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In this paper, we consider the problem of controlling a network of agents so that the resulting motion always preserves the connectivity property of the network. In particular, the connectivity condition is translated to differentiable constraints on individual agent motion by considering the dynamics of the Laplacian matrix and its spectral properties. Artificial potential fields are then used to drive the agents to configurations away from the undesired space of disconnected networks while avoiding collisions with each other. We conclude by illustrating a class of interesting problems that can be achieved while preserving connectivity constraints.