A Class of Bounded Distributed Control Strategies for Connectivity Preservation in Multi-Agent Systems

Ajorlou, Amir; Momeni, Ahmadreza; Aghdam, Amir G.

doi:10.1109/tac.2010.2072570

Cited by 186 publications

(146 citation statements)

References 23 publications

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“…This process was repeated iteratively until robots converged on a central location. [20] and [21] used bounded forces to minimize distance with connected neighbors for a team to rendezvous or assemble in a formation. One study considered Rician fading in wireless links to control multiple robots to track a target and maintain connectivity with the base [22].…”

Section: Control Of Communications Through Motion Planningmentioning

confidence: 99%

Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams

et al. 2013

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A multi-UAV system relies on communications to operate. Failure to communicate remotely sensed mission data to the base may render the system ineffective, and the inability to exchange command and control messages can lead to system failures. This paper describes a unique method to control network communications through distributed task allocation to engage under-utilized UAVs to serve as communication relays and to ensure that the network supports mission tasks. This work builds upon a distributed algorithm previously developed by the authors, CBBA with Relays, which uses task assignment information, including task location and proposed execution time, to predict the network topology and plan support using relays. By explicitly coupling task assignment and relay creation processes, the team is able to optimize the use of agents to address the needs of dynamic complex missions. In this work, the algorithm is extended to explicitly consider realistic network communication dynamics, including path loss, stochastic fading, and information routing. Simulation and flight test results validate the proposed approach, demonstrating that the algorithm ensures both data-rate and interconnectivity bit-error-rate requirements during task execution.

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Section: Control Of Communications Through Motion Planningmentioning

confidence: 99%

Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams

et al. 2013

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“…In [9], the same authors used the determinant of the reduced Laplacian matrix to form a potential field which preserves connectivity. To avoid infinite control inputs whenever communication links tend to be lost in the potential fields, Dimarogonas and Johansson [10] and Ajorlou et al [11] proposed distributed algorithms which produce bounded control inputs.…”

Section: Introductionmentioning

confidence: 99%

Distributed constrained connectivity control for proximity networks based on a receding horizon scheme

Soleymani

Garone

Dorigo

2015

2015 American Control Conference (ACC)

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Abstract-In this paper, we propose a distributed constrained connectivity control algorithm for a network of dynamically decoupled agents with constrained discrete-time linear dynamics. This control algorithm works based on a receding horizon control (RHC) scheme and acts as a middleware that modifies the set-points defined by the user or by high-level control units whenever their direct application would violate system constraints. To guarantee the connectivity of the communication graph, the algorithm enforces that a specific spanning tree exists at each time. The algorithm is allowed, under certain conditions, to switch between interaction graphs in order to enhance system performance. Among all possible spanning trees, we propose to use the Euclidean Minimum Spanning Tree (EMST), and we study its advantages. The overall algorithm is described, and some of its properties are pointed out. Some simulations conclude the paper and show the effectiveness of the proposed method.

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“…From a control perspective, high interest is focused on the design of control protocols that are based on local network information for the accomplishment of a team goal. Typical objectives are the consensus problem, which aims at the agreement of the agents' states to a common value [16], [29], rendezvous to a common location [23], reference tracking [1] and formation control [17]. For application fields such as mobile robot coordination, it is of paramount importance to ensure network connectivity [41], due to the agents' limited sensing and communication capabilities which necessitate the satisfaction of certain relative distance constraints between communicating agents.…”

mentioning

confidence: 99%

“…Other approaches to the problem of connectivity maintenance include [9], where controllers that additionally guarantee collision avoidance are designed, bounded potential field based control laws [1], decentralized navigation functions [8], [18], hybrid control policies [40], algorithmic solutions for discrete time second order agents [30] and optimization frameworks for the maximization of the second smallest Laplacian eigenvalue [11] (see also [2], [37], [38], [39]). A detailed literature review on the subject can be also found in the survey paper [41].…”

mentioning

confidence: 99%

Robustness and Invariance of Connectivity Maintenance Control for Multiagent Systems

Boskos¹,

Dimarogonas²

2017

SIAM J. Control Optim.

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PostprintThis is the accepted version of a paper published in SIAM Journal of Control and Optimization. This paper has been peer-reviewed but does not include the final publisher proof-corrections or journal pagination. Abstract. This paper is focused on a cooperative control design which guarantees robust connectivity and invariance of a multi-agent network inside a bounded domain, under the presence of additional bounded input terms in each agent's dynamics. In particular, under the assumptions that the domain is convex and has a smooth boundary, we can design a repulsion vector field near its boundary, which ensures invariance of the agents' trajectories and does not affect the robustness properties of the control part that is exploited for connectivity maintenance.

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A Class of Bounded Distributed Control Strategies for Connectivity Preservation in Multi-Agent Systems

Cited by 186 publications

References 23 publications

Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams

Dynamic Mission Planning for Communication Control in Multiple Unmanned Aircraft Teams

Distributed constrained connectivity control for proximity networks based on a receding horizon scheme

Robustness and Invariance of Connectivity Maintenance Control for Multiagent Systems

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