The DOI matches its Crossref record; 64 of the 64 references it cites were found in a registry or an index.
Graph-theoretic connectivity control of mobile robot networks
Abstract
We provide a theoretical framework for controlling graph connectivity in mobile robot networks. We discuss proximity-based communication models composed of disk-based or uniformly-fading-signal-strength communication links. A graph-theoretic definition of connectivity is provided, as well as an equivalent definition based on algebraic graph theory, which employs the adjacency and Laplacian matrices of the graph and their spectral properties. Based on these results, we discuss centralized and distributed algorithms to maintain, increase, and control connectivity in mobile robot networks. The various approaches discussed in this paper range from convex optimization and subgradient-descent algorithms, for the maximization of the algebraic connectivity of the network, to potential fields and hybrid systems that maintain communication links or control the network topology in a least restrictive manner. Common to these approaches is the use of mobility to control the topology of the underlying communication network. We discuss applications of connectivity control to multirobot rendezvous, flocking and formation control, where so far, network connectivity has been considered an assumption.
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Cites
Boyd, S., & Vandenberghe, L. (2004) · doi:10.1017/cbo9780511804441 · Cited by 56,601
Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
Olfati-Saber, R., & Murray, R. M. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.834113 · Cited by 12,788
Consensus and Cooperation in Networked Multi-Agent Systems
Olfati-Saber, R., Fax, J. A., & Murray, R. M. (2007) · Proceedings of the IEEE · doi:10.1109/jproc.2006.887293 · Cited by 10,522 · cited 2×
“In fact, recent work on distributed consensus and state agreement has strongly depended on multihop communication for convergence and performance guarantees [1]–[ 14 ].”
BackgroundCoordination of groups of mobile autonomous agents using nearest neighbor rules
Jadbabaie, A., Lin, J., & Morse, A. S. (2003) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2003.812781 · Cited by 8,339
Godsil, C., & Royle, G. (2001) · Graduate Texts in Mathematics · doi:10.1007/978-1-4613-0163-9 · Cited by 8,154
Flocks, herds and schools: A distributed behavioral model
Reynolds, C. W. (1987) · Proceedings of the 14th annual conference on Computer graphics and interactive techniques · doi:10.1145/37401.37406 · Cited by 7,714
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Ren, W., & Beard, R. W. (2005) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2005.846556 · Cited by 6,569
Flocks, herds and schools: A distributed behavioral model
Reynolds, C. W. (1987) · ACM SIGGRAPH Computer Graphics · doi:10.1145/37402.37406 · Cited by 5,148
Information Flow and Cooperative Control of Vehicle Formations
Fax, J. A., & Murray, R. M. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.834433 · Cited by 4,579
Algebraic connectivity of graphs
Fiedler, M. (1973) · Czechoslovak Mathematical Journal · doi:10.21136/cmj.1973.101168 · Cited by 3,977
Cited by
Self-Triggered Consensus for Multi-Agent Systems With Zeno-Free Triggers
Fan, Y., Liu, L., Feng, G., & Wang, Y. (2015) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2015.2405294 · Cited by 357
Metadata
- Authors
- Zavlanos, M. M., Egerstedt, M. B., & Pappas, G. J.
- Venue
- Proceedings of the IEEE
- Published
- 2011-09
- Volume
- 99
- Issue
- 9
- Pages
- 1525-1540
- ISSN
- 0018-9219 (ISSN-L)
- 1558-2256
- OpenAlex
- W2063801303
- Cited by
- 405
- References
- 64
- FWCI
- 41.76
- Type
- journal article
- Language
- en
- Open access
- closed
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