relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/3981/
title: Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems
creator: Pham, Duy Hung
creator: Tran, Quang Vinh
creator: Ngo, Trung Dung
subject: Electronics and Computer Engineering
description: 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.
publisher: IEEE
date: 2020-03
type: Article
type: PeerReviewed
identifier:   Pham, Duy Hung and Tran, Quang Vinh and Ngo, Trung Dung  (2020) Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems.  IEEE Transactions on Cybernetics, 50  (3).   pp. 1278-1291.  ISSN 2168-2267     
relation: https://ieeexplore.ieee.org/abstract/document/8716301
relation: 10.1109/TCYB.2019.2913326