eprintid: 3467
rev_number: 22
eprint_status: archive
userid: 261
dir: disk0/00/00/34/67
datestamp: 2019-06-03 03:58:45
lastmod: 2020-01-06 07:40:15
status_changed: 2019-06-03 03:58:45
type: article
metadata_visibility: show
creators_name: Pham, Duy Hung
creators_name: Tran, Quang Vinh
creators_name: Ngo, Trung Dung
creators_id: hungpd@vnu.edu.vn
creators_id: vinhtq@vnu.edu.vn
creators_id: dungnt@ieee.org
title: Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems
ispublished: pub
subjects: ECE
subjects: isi
divisions: fac_fet
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)
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.
date: 2019-05-16
date_type: published
publisher: IEEE
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8716301&isnumber=6352949
id_number: 10.1109/TCYB.2019.2913326
contact_email: hungpd@vnu.edu.vn
full_text_status: none
publication: IEEE Transactions on Cybernetics
pagerange: 1-14
refereed: TRUE
issn: 2168-2267
citation:   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