Title:
Graph Theoretic Connectivity Control of Mobile Robot Networks
Graph Theoretic Connectivity Control of Mobile Robot Networks
Author(s)
Zavlanos, Michael M.
Egerstedt, Magnus B.
Pappas, George J.
Egerstedt, Magnus B.
Pappas, George J.
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Abstract
In this paper 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 multi-robot rendezvous,
flocking and formation control, where so far, network connectivity
has been considered an assumption.
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Date Issued
2011
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