Ensuring network connectivity for nonholonomic robots during decentralized rendezvous

Z. Kan*, J. Klotz, Teng-Hu Cheng, W. E. Dixon

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

In a multi-robot system, robots are typically required to collaborate over a communication network to achieve objectives cooperatively. Due to the limited communication and sensing capabilities on each robot, the cooperative objective must be accomplished while ensuring that specified robots stay within each other's sensing and communication ranges and that the overall network remains connected. In this paper, a dipolar navigation function and corresponding time-varying continuous controller is developed for repositioning and reorienting a group of wheeled robots with nonholonomic constraints. Only local sensing feedback information from neighbors is used to navigate the robots and maintain network connectivity, which indicates that communication is available when required for various tasks, but communication is not required for navigation. Simulation results demonstrate the performance of the developed approach.

Original languageEnglish
Title of host publication2012 American Control Conference, ACC 2012
Pages3718-3723
Number of pages6
DOIs
StatePublished - 26 Nov 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: 27 Jun 201229 Jun 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2012 American Control Conference, ACC 2012
CountryCanada
CityMontreal, QC
Period27/06/1229/06/12

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    Kan, Z., Klotz, J., Cheng, T-H., & Dixon, W. E. (2012). Ensuring network connectivity for nonholonomic robots during decentralized rendezvous. In 2012 American Control Conference, ACC 2012 (pp. 3718-3723). [6314993] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2012.6314993