TY  - JOUR
ID  - SisLab3981
UR  - https://ieeexplore.ieee.org/abstract/document/8716301
IS  - 3
A1  - Pham, Duy Hung
A1  - Tran, Quang Vinh
A1  - Ngo, Trung Dung
Y1  - 2020/03//
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
VL  - 50
SN  - 2168-2267
TI  - Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems
SP  - 1278
AV  - none
EP  - 1291
ER  -