Paper Info
Title
Connectivity constrained multirobot navigation with considering physical size of robots
Abstract
Due to limited sensing and communication capabilities, a team of robots must maintain connectivity for information exchange while performing group tasks. Maintaining connectivity of networked robots is always a challenge in multirobot cooperation. In this paper, we develop a novel controller to guarantee multirobots with limited communication capabilities to approach their individual goal positions while maintaining network connectivity and avoiding self-collisions during motion. Physical size of the robot is particularly considered. A new inter-robot constraint named connectivity constraint is added to the constructed navigation function, which results in a potential field integrating navigation requirement, connectivity constraint and self-collision avoidance, simultaneously. Based on the improved navigation function, a controller with bounded control inputs is generated. Simulations are finally performed to demonstrate the effectiveness of proposed approaches.
Year
DOI
Venue
2011
10.1109/ICAL.2011.6024678
ICAL
Keywords
Field
DocType
networked robots,self collision avoidance,network connectivity maintainance,connectivity constrained multirobot navigation,multi-robot systems,group tasks performance,constraint theory,communication capability,networked control systems,collision avoidance,robot kinematics,navigation
Robot control,Control theory,Navigation function,Control theory,Information exchange,Robot kinematics,Control engineering,Mobile robot navigation,Engineering,Robot,Bounded function
Conference
Volume
Issue
ISSN
null
null
2161-8151 E-ISBN : 978-1-4577-0300-3
ISBN
Citations 
PageRank 
978-1-4577-0300-3
1
0.37
References 
Authors
27
4
Name
Order
Citations
PageRank
Xiangpeng Li19916.53
Dong Sun296687.31
Jie Yang331525.35
Shuang Liu4111.74