Decentralized connectivity maintenance for cooperative control of mobile robotic systems

Authors:
Lorenzo Sabattini;Nikhil Chopra;Cristian Secchi
Affiliations:
Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy;Department of Mechanical Engineering and Institute for Systems Research, University of Maryland, College Park, MD, USA;Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy
Venue:
International Journal of Robotics Research
Year:
2013

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Abstract

To accomplish cooperative tasks, robotic systems are often required to communicate with each other. Thus, maintaining connectivity of the communication graph is a fundamental issue in the field of multi-robot systems. In this paper we present a completely decentralized control strategy for global connectivity maintenance of the communication graph. Considering the disk communication model, we describe a gradient-based control strategy that exploits decentralized estimation of the algebraic connectivity. Unlike previous approaches available in the literature, the proposed control algorithm solves the global connectivity problem in a decentralized manner providing theoretical guarantees, without requiring maintenance of the local connectivity between robotic systems. Moreover, results obtained with simulations and experiments on real robots are described for demonstrating the efficacy of the proposed algorithm.