Paper Info
Title
Connectivity control on Lie groups
Abstract
The preservation of connectivity in networks is critical to the success of existing algorithms designed to achieve various goals. Control laws increasing the connectivity of a given state-dependent graph have been formulated for agents evolving on the Euclidean space. In this paper, we show that similar control laws can be adapted to more general spaces. In particular, we consider agents whose configuration space is represented by a Lie group. In addition, we will require the resulting control law to be symmetric with respect to the natural group action, with the intention that additional controllers for the group action may be implemented on top of the connectivity controllers.
Year
DOI
Venue
2013
10.1109/ASCC.2013.6606252
ASCC
Keywords
Field
DocType
lie groups,graph theory,mobile robots,euclidean space,configuration space,connectivity controllers,mobile robot networks,natural group action,state-dependent graph,vectors,robots,mathematical model,measurement
Graph theory,Graph,Topology,Lie group,Theoretical computer science,Euclidean space,Connectivity,Mobile robot,Mathematics,Configuration space
Conference
ISSN
ISBN
Citations 
2072-5639
978-1-4673-5767-8
0
PageRank 
References 
Authors
0.34
6
2
Name
Order
Citations
PageRank
Aykut C. Satici1141.58
Spong, M.W.2706154.32