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Cooperation with Ground and Arieal Vehicles for Multiple Tasks: Decentralized Task Assignment and Graph Connectivity Control

지상 로봇의 분산형 임무할당과 무인기의 네트워크 연결성 추정 및 제어를 통한 협업

  • 문성원 (서울대학교 기계항공공학부) ;
  • 김현진 (서울대학교 기계항공공학부)
  • Received : 2011.10.14
  • Accepted : 2012.01.25
  • Published : 2012.03.01

Abstract

Maintenance and improvement of the graph connectivity is very important for decentralized multi-agent systems. Although the CBBA (Consensus-Based Bundle Algorithm) guarantees suboptimal performance and bounded convergence time, it is only valid for connected graphs. In this study, we apply a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimation, we design a decentralized gradient controller to maintain the graph connectivity while agents are traveling to perform assigned tasks. Simulation result for fully-actuated first-order agents that move in a 2-D plane are presented.

Keywords

References

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