Name
Abstract | ||
|---|---|---|
Connectivity maintenance is an essential task in multi-robot systems and it has received a considerable attention during the last years. However, a connected system can be broken into two or more subsets simply if a single robot fails. Then, a more robust communication can be achieved if the network connectivity is guaranteed in the case of one robot failures. The resulting network is called biconnected. In [1] we presented a criterion for biconnectivity check, which basically determines a lower bound on the third-smallest eigenvalue of the Laplacian matrix. In this paper we introduce a decentralized gradient-based protocol to increase the value of the third-smallest eigenvalue of the Laplacian matrix, when the biconnectivity check fails. We also introduce a decentralized algorithm to estimate the eigenvectors of the Laplacian matrix, which are used for defining the gradient. Simulations show the effectiveness of the theoretical findings. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/CDC.2016.7798526 | 2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC) |
DocType | Volume | ISSN |
Conference | abs/1608.02286 | 0743-1546 |
Citations | PageRank | References |
3 | 0.40 | 11 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mehran Zareh | 1 | 14 | 2.68 |
| Lorenzo Sabattini | 2 | 393 | 36.65 |
| Cristian Secchi | 3 | 977 | 81.94 |