論文

査読有り 本文へのリンクあり
2020年

Robustness of Multi-Robot Systems Controlling the Size of the Connected Component After Robot Failure

IFAC PAPERSONLINE
  • Toru Murayama
  • ,
  • Lorenzo Sabattini

53
2
開始ページ
3137
終了ページ
3143
記述言語
英語
掲載種別
研究論文(国際会議プロシーディングス)
DOI
10.1016/j.ifacol.2020.12.1052
出版者・発行元
ELSEVIER

This study approaches a robustification method for a multi-robot network connectivity. Instead of the vertex connectivity, which is commonly used as a robustness index, here we consider the size of the connected component remaining after one robot has been removed from the network, and we propose a distributed control law for improvement and preservation of the remaining connected component size. Some conditions of a modified graph Laplacian eigenvalue are analyzed for the improvement and the preservation, and then the control strategy is composed using the Laplacian eigenvalue as an indicator of the remaining connected component size. From simulations, we observed that a multi-robot system with our control method achieves a convincing state regarding the trade-off between a network robustness and a coverage task performance. Copyright (C) 2020 The Authors.

リンク情報
DOI
https://doi.org/10.1016/j.ifacol.2020.12.1052
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000652592500506&DestApp=WOS_CPL
Scopus
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85105107122&origin=inward 本文へのリンクあり
Scopus Citedby
https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85105107122&origin=inward
ID情報
  • DOI : 10.1016/j.ifacol.2020.12.1052
  • ISSN : 2405-8963
  • eISSN : 2405-8963
  • SCOPUS ID : 85105107122
  • Web of Science ID : WOS:000652592500506

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