NDLI: Motion Synchronization in Mobile Robot Networks: Robustness

Content Provider	IEEE Xplore Digital Library
Author	Fei Zhang Weidong Chen Yugeng Xi
Copyright Year	2006
Description	Author affiliation: Inst. of Autom., Shanghai Jiao Tong Univ. (Fei Zhang; Weidong Chen; Yugeng Xi)
Abstract	Motion synchronization in mobile robot networks is a fundamental task in distributed multi-robot collaboration. In this paper, we investigate the robustness of synchronous speeds against robot and communication failures, an important feature of distributed systems. A performance metric is proposed to represent the robustness of the robot teams based on complex networks theories. Moreover, a distributed topology control algorithm to improve the robustness metric of groups of robots by increasing the communication range temporarily is presented. When the new topology is constructed and is stable, the range for communicating is reduced to the original value. Finally, the results of simulation experiments have demonstrated the efficiency of the proposed control algorithm while robots and connections fail in a robot group
Starting Page	5570
Ending Page	5575
File Size	7232426
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282274
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robustness Network topology Communication system control Collaboration Mobile communication Measurement Complex networks Distributed control Robust control topology control Mobile robot network motion synchronization robustness
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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