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
Full text not available from this repository.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.
| Item Type: | Article |
|---|---|
| Subjects: | Electronics and Communications > Electronics and Computer Engineering |
| Divisions: | Faculty of Electronics and Telecommunications (FET) |
| Depositing User: | Hung Pham Duy |
| Date Deposited: | 13 Jul 2020 10:13 |
| Last Modified: | 13 Jul 2020 10:13 |
| URI: | http://eprints.uet.vnu.edu.vn/eprints/id/eprint/3981 |
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