2020年
Robustness of Multi-Robot Systems Controlling the Size of the Connected Component After Robot Failure
IFAC PAPERSONLINE
- ,
- 巻
- 53
- 号
- 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
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- 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
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- DOI : 10.1016/j.ifacol.2020.12.1052
- ISSN : 2405-8963
- eISSN : 2405-8963
- SCOPUS ID : 85105107122
- Web of Science ID : WOS:000652592500506