Topics in matrix analysis
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Mobile robot team forming for crystallization of proteins
Autonomous Robots
Control of frictional dynamics of a one-dimensional particle array
Automatica (Journal of IFAC)
Brief paper: Region-based shape control for a swarm of robots
Automatica (Journal of IFAC)
Maintaining Limited-Range Connectivity Among Second-Order Agents
SIAM Journal on Control and Optimization
IEEE Transactions on Robotics
Enforcing Network Connectivity in Robot Team Missions
International Journal of Robotics Research
International Journal of Robotics Research
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Region-Reaching Control of Robots
IEEE Transactions on Robotics
Multilevel-based topology design and shape control of robot swarms
Automatica (Journal of IFAC)
Hi-index | 22.14 |
Maintaining the connectivity of networked robots is a challenge in multirobot applications. In this paper, this challenging problem is addressed through the development of a novel controller that can guarantee that robots will approach their individual desired positions while maintaining existing network topology and avoiding obstacles. A new concept of connectivity constraint, along with a continuous modeling approach to obstacle avoidance, is utilized in building the navigation function. The designed potential field integrates the navigation requirement, connectivity constraint, and obstacle avoidance simultaneously, based on which a bounded control input is generated for multirobot control. It is shown that if the initial configurations of the robots are connected and the desired configuration is reachable, the proposed controller is capable of driving multirobots to their individual goal positions conditionally while keeping the underlying network connected. Simulations and experiments are finally performed using a group of mobile robots to demonstrate the effectiveness of the proposed controller.