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Hierarchical Distributed Control for Global Network Integrity Preservation in Multirobot Systems

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

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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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