Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

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
Download PDF
⟨ Previous Next ⟩

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

  1. F. Cucker and S. Smale, "Emergent behavior in flocks," IEEE Transactions on Automatic Control, vol. 52, no. 5, pp. 852-862, May 2007. https://doi.org/10.1109/TAC.2007.895842
  2. C. Belta and V. Kumar, "Abstraction and control for groups of robots," IEEE Transactions on Robotics, vol. 20, no. 5, pp. 865-875, Oct. 2004. https://doi.org/10.1109/TRO.2004.829498
  3. J. B. Park and B. S. Park, "Leader-following based adaptive formation control for multiple mobile robots," vol. 16, no. 5, pp. 428-432, May 2010. https://doi.org/10.5302/J.ICROS.2010.16.5.428
  4. J. S. Kim and B. K. Kim, "Time-efficient trajectory planning algorithms for multiple mobile robots in nuclear/chemical reconnaissance system," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 15, no. 10, pp. 1047-1055, Oct. 2009. https://doi.org/10.5302/J.ICROS.2009.15.10.1047
  5. L. Brunet, H. L. Choi, and J. P. How, "Consensus-based auction approaches for decentralized task assignment," presented at the AIAA Guidance, Navigation, Control Conference, vol. AIAA-2008-6839, Aug. 2008.
  6. M. M. Zavalanos and G. J. Pappas, "Controlling connectivitiy of dynamic graphs," In IEEE Conference on Decision and Control, pp. 6388-6393, Dec. 2005.
  7. M. M. Zavalanos and G. J. Pappas, "Potential fields for maintaining connectivity of mobile networks," IEEE Transactions on Robotics, vol. 23, no. 4, pp. 812-816, Aug. 2007. https://doi.org/10.1109/TRO.2007.900642
  8. D. P. Spanos and R. M. Murray, "Robust connectivity of networked vehicles," In IEEE international conference on decision and control, pp. 2893-2898, Dec. 2004.
  9. M. M. Zavalanos and G. J. Pappas, "Distributed connectivity control of mobile networks," IEEE Transactions in Robotics, vol. 24, no. 6, pp. 1416-1428, Dec. 2008. https://doi.org/10.1109/TRO.2008.2006233
  10. P. Yang, R. A. Freeman, G. J. Gordon, K. M. Lynch, S. S. Srinivasa, and R. Sukthankar, "Decentralized estimation and control of graph connectivity for mobile sensor networks," Automatica, vol. 46, no. 2, pp. 390-396, Feb. 2010. https://doi.org/10.1016/j.automatica.2009.11.012
  11. R. A. Freeman, P. Yang, and K. M. Lynch, "Stability and convergence properties of dynamic consensus estimators," In IEEE International Conference on Decision and Control, pp. 338-343, Dec. 2006.