TY  - JOUR
ID  - SisLab3467
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8716301&isnumber=6352949
A1  - Pham, Duy Hung
A1  - Tran, Quang Vinh
A1  - Ngo, Trung Dung
Y1  - 2019/05/16/
N2  - 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.
PB  - IEEE
JF  - IEEE Transactions on Cybernetics
KW  - 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)
SN  - 2168-2267
TI  - Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems
SP  - 1
AV  - none
EP  - 14
ER  -