http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
A passivity-based decentralized strategy for generalized connectivity maintenance
Robuffo Giordano, Paolo,Franchi, Antonio,Seccos, Christian,Bü,lthoff, Heinrich H SAGE Publications 2013 The International journal of robotics research Vol.32 No.3
<P>The design of decentralized controllers coping with the typical constraints on the inter-robot sensing/communication capabilities represents a promising direction in multi-robot research thanks to the inherent scalability and fault tolerance of these approaches. In these cases, <I>connectivity</I> of the underlying interaction graph plays a fundamental role: it represents a necessary condition for allowing a group or robots to achieve a common task by resorting to only local information. The goal of this paper is to present a novel decentralized strategy able to enforce <I>connectivity maintenance</I> for a group of robots in a flexible way, that is, by granting large freedom to the group internal configuration so as to allow establishment/deletion of interaction links at anytime as long as global connectivity is preserved. A peculiar feature of our approach is that we are able to embed into a <I>unique connectivity preserving action</I> a large number of constraints and requirements for the group: (i) the presence of specific inter-robot sensing/communication models; (ii) group requirements such as formation control; and (iii) individual requirements such as collision avoidance. This is achieved by defining a suitable global potential function of the second smallest eigenvalue λ<SUB>2</SUB> of the graph Laplacian, and by computing, in a decentralized way, a gradient-like controller built on top of this potential. Simulation results obtained with a group of quadrotor unmanned aerial vehicles (UAVs) and unmanned ground vehicles, and experimental results obtained with four quadrotor UAVs, are finally presented to thoroughly illustrate the features of our approach on a concrete case study.</P>