MAINTAINING LIMITED-RANGE CONNECTIVITY AMONG SECOND-ORDER AGENTS
MAINTAINING LIMITED-RANGE CONNECTIVITY AMONG SECOND-ORDER AGENTS
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DOI：
10.1137/060674971
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发表时间：
2009-01-01
影响因子：
2.2
通讯作者：
Bullo, Francesco
中科院分区：
文献类型：
--
作者：
Savla, Ketan;Notarstefano, Giuseppe;Bullo, Francesco
本文考虑具有双积分器动力学的机器人代理自组织网络。对于这样的网络，连通性维护问题如下：(i)是否存在每个代理维持网络连通性的控制输入，以及（ii）给定每个代理所需的控制，我们能否以分布式方式计算最接近的连接维护控制？提出的解决方案基于三个贡献。首先，我们定义并刻画了双积子留在盘内的可容许集。其次，通过引入一种新的状态相关图，即双积分盘图，建立了连通性维护问题的存在性定理。具体地说，我们表明可以通过维护这个新图的生成树来始终保持连通性，但是不能始终维护碰巧在某个时刻连接的特定代理对的连通性。最后，我们设计了一种分布式“流控制”算法，用于保持连通性控制的分布式计算。
In this paper we consider ad-hoc networks of robotic agents with double integrator dynamics. For such networks, the connectivity maintenance problems are as follows: (i) Do there exist control inputs for each agent to maintain network connectivity, and (ii) given desired controls for each agent, can we compute the closest connectivity-maintaining controls in a distributed fashion? The proposed solution is based on three contributions. First, we define and characterize admissible sets for double integrators to remain inside disks. Second, we establish an existence theorem for the connectivity maintenance problem by introducing a novel state-dependent graph, called the double-integrator disk graph. Specifically, we show that one can always maintain connectivity by maintaining a spanning tree of this new graph, but one will not always maintain connectivity of a particular agent pair that happens to be connected at one instant of time. Finally, we design a distributed "flow-control" algorithm for distributed computation of connectivity-maintaining controls.