NDLI: Decentralized connectivity maintenance in mobile networks with bounded inputs

Content Provider	IEEE Xplore Digital Library
Author	Dimarogonas, D.V. Johansson, K.H.
Copyright Year	2008
Description	Author affiliation: KTH ACCESS Linnaeus Center, R. Inst. of Technol. (KTH), Stockholm (Dimarogonas, D.V.; Johansson, K.H.)
Abstract	A distributed control law that guarantees connectivity maintenance in a network of multiple mobile agents is presented. The control law respects the limited sensing capabilities of the agents by allowing each agent to take into account only agents within its sensing radius in the controller implementation. In contrast to previous approaches to the problem, the proposed control law does not attain infinite values whenever an edge tends to be lost, and is therefore a bounded distributed control law. This is achieved via the use of decentralized navigation functions which are potential fields with guaranteed boundedness and are redefined in this paper in order to take into account the connectivity maintenance objective. We first treat the case of connectivity maintenance in a static initial position based communication graph and extend the results to the case of dynamic edge addition. The results are then applied to a formation control problem.
Starting Page	1507
Ending Page	1512
File Size	273891
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543415
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Communication system control Distributed control Navigation State-space methods Communication networks Robotics and automation USA Councils Mobile agents Automatic control Vehicle dynamics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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