@article{SisLab3467,
           month = {May},
          author = {Duy Hung Pham and Quang Vinh Tran and Trung Dung Ngo},
           title = {Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems},
       publisher = {IEEE},
         journal = {IEEE Transactions on Cybernetics},
             doi = {10.1109/TCYB.2019.2913326},
           pages = {1--14},
            year = {2019},
        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)},
             url = {https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3467/},
        abstract = {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.}
}