In this paper, we address the connectivity maintenance problem for a multirobot system that moves according to a given bounded collective control objective. We assume that the interaction among the robotic units is limited by a given visibility radius both in terms of sensing and communication capabilities. For this scenario, we propose a decentralized bounded control law that can provably preserve the connectivity of the multirobot system over time. We characterize the effect of the connectivity control term on the achievement of the collective control objective by resorting to an input-to-state stability-like analysis. We provide numerical and experimental results to corroborate the theoretical findings and assess the effectiveness of the proposed bounded connectivity maintenance control law.
Bounded Control Law for Global Connectivity Maintenance in Cooperative Multirobot Systems
2017-01-01
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Distributed Multirobot Control for Non-cooperative Herding
Springer Verlag | 2024
|Distributed Cooperative Outdoor Multirobot Localization and Mapping
British Library Online Contents | 2004
|Strategies for coordinated multirobot exploration with recurrent connectivity constraints
BASE | 2018
|Distributed multisensor integration in a cooperative multirobot system [2589-16]
British Library Conference Proceedings | 1995
|Agent-Based Architecture for Multirobot Cooperative Tasks: Design and Applications
BASE | 2011
|