Paper Info
Title
Connectivity Maintenance: Global and Optimized approach through Control Barrier Functions
Abstract
Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common objective. Connectivity must be kept regardless of the control strategy or the objective of the multi-robot system. Two main methods exist for connectivity maintenance: keep the initial connections (local connectivity) or allow modifications to the initial connections, but always keeping the overall system connected (global connectivity). In this paper we present a method that allows, at the same time, to maintain global connectivity and to implement the desired control strategy (e.g., consensus, formation control, coverage), all in an optimized fashion. For this purpose, we defined and implemented a Control Barrier Function that can incorporate constraints and objectives. We provide a mathematical proof of the method, and we demonstrate its versatility with simulations of different applications.
Year
DOI
Venue
2020
10.1109/ICRA40945.2020.9197109
ICRA
DocType
Volume
Issue
Conference
2020
1
Citations 
PageRank 
References 
0
0.34
27
Authors
2
Name
Order
Citations
PageRank
Beatrice Capelli142.47
Lorenzo Sabattini239336.65