Distributed control for bi-connectivity of multi-robot network
Distributed control for bi-connectivity of multi-robot network
复制标题
多机器人网络双连接的分布式控制
DOI：
10.1080/18824889.2022.2157194
复制
发表时间：
2022
期刊：
影响因子：
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通讯作者：
Murayama Toru
中科院分区：
文献类型：
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作者：
Naoki Ogawa;Keisuke Maeda;Takahiro Ogawa;Miki Haseyama;Murayama Toru
本文以分布式控制方式解决了网络多机器人系统的双连接保护问题。由于双连接网络拓扑对于单节点移除具有鲁棒性，因此网络多机器人系统需要在机器人可能发生故障的情况下保持双连接性。通过使用扰动图拉普拉斯算子来判断节点被移除后网络是否断开，我们分析了网络双连通的充分条件。然后我们设计了一个分布式控制律来保持充分条件下的双连通性。此外，考虑到机器人出现故障的情况，我们提出了一种控制律来强制将单连接网络强制双连接。从理论上证明了通过所提出的控制恢复双连通性的条件。数值模拟证明了所提出的控制律的有效性。
This paper approaches a bi-connectivity preservation problem for networked multi-robot systems in a distributed control fashion. Since a bi-connected network topology is robust against single node removal, networked multi-robot systems are required to preserve bi-connectedness in cases robots may fail. By employing a perturbed graph Laplacian to find if the network is disconnected after a node is removed, we analyse a sufficient condition that the network is bi-connected. Then we design a distributed control law to preserve the bi-connectedness from the sufficient condition. Moreover, considering cases a robot fails, we propose a control law to let a uni-connected network be bi-connected forcibly. A condition to restore the bi-connectedness by the proposed control is theoretically proved. The effectiveness of the proposed control laws is demonstrated by numerical simulations.
使用扰动代数连接的多机器人网络的双连接改进和保护
DOI：
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发表时间：
2021
期刊：
Proceedings of 60th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE2021)
影响因子：
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作者：
S. Ubukata;A. Sugimoto;A. Notsu;K. Honda;Murayama Toru
通讯作者：
Murayama Toru
与目标搜索应用程序的连接维护
DOI：
10.1080/18824889.2021.1893971
发表时间：
2021
期刊：
SICE Journal of Control, Measurement, and System Integration
影响因子：
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作者：
Hiroaki Kata;S. Ueno
通讯作者：
S. Ueno