Pham, Duy Hung and Tran, Quang Vinh and Ngo, Trung Dung (2019) Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems. IEEE Transactions on Cybernetics . pp. 1-14. ISSN 2168-2267
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In this paper, we address a novel hierarchical distributed control (HDC) strategy for networked multirobot systems (MRSs). This strategy is developed on a geometric approach without requiring estimation of algebraic connectivity. It is originally based upon behavioral control, but upgraded by distributed node control with a mobility constraint for global network integrity preservation and distributed connectivity control with a local connectivity minimization strategy for network coverage expansion. Thanks to properties of HDC, a networked MRS is capable of achieving high performance with cooperative tasks. We have examined and evaluated our proposed method in both simulations with up to 100 simulated robots and real-world experiments with up to 14 real robots.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Robot sensing systems;Decentralized control;Maintenance engineering;Mobile robots;Estimation;Behavioral control;distributed connectivity control;distributed node control;global network integrity preservation;hierarchical distributed control (HDC);local connectivity minimization strategy;multirobot systems (MRSs) |
| Subjects: | Electronics and Communications ISI-indexed journals |
| Divisions: | Faculty of Electronics and Telecommunications (FET) |
| Depositing User: | Hung Pham Duy |
| Date Deposited: | 03 Jun 2019 03:58 |
| Last Modified: | 06 Jan 2020 07:40 |
| URI: | http://eprints.uet.vnu.edu.vn/eprints/id/eprint/3467 |
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