Paper Info
Title
Network Connectivity Preserving Formation Stabilization and Obstacle Avoidance via a Decentralized Controller.
Abstract
A decentralized control method is developed to enable a group of agents to achieve a desired global configuration while maintaining global network connectivity and avoiding obstacles, using only local feedback and no radio communication between the agents for navigation. By modeling the interaction among the agents as a graph, and given a connected initial graph with a desired neighborhood between agents, the developed method ensures the desired communication links remain connected for all time. To guide the agents to a desired configuration while avoiding obstacles, a decentralized controller is developed based on the navigation function formalism. By proving that the proposed controller is a qualified navigation function, convergence to the desired formation is guaranteed.
Year
DOI
Venue
2012
10.1109/TAC.2011.2178883
IEEE Trans. Automat. Contr.
Keywords
Field
DocType
Nickel,Sensors,Collision avoidance,Radio navigation,Multiagent systems,Convergence
Obstacle avoidance,Graph theory,Motion planning,Control theory,Navigation function,Decentralised system,Control theory,Multi-agent system,Mobile robot,Mathematics,Distributed computing
Journal
Volume
Issue
ISSN
57
7
0018-9286
Citations 
PageRank 
References 
40
1.27
14
Authors
4
Name
Order
Citations
PageRank
Zhen Kan122926.54
Ashwin P. Dani212413.97
John M. Shea334530.81
Warren E. Dixon41757149.42