A novel approach to coordination of multiple robots with communication failures via proximity graph

Yuan Fan; Gang Feng; Yong Wang; Jianbin Qiu

doi:10.1016/j.automatica.2011.04.017

A novel approach to coordination of multiple robots with communication failures via proximity graph

Yuan Fan^*
, Gang Feng
, Yong Wang
, Jianbin Qiu

^*Corresponding author for this work

School of Astronautics

City University of Hong Kong
University of Science and Technology of China
USTC-CityU. Joint Research Center
Nanjing University of Science and Technology

Research output: Contribution to journal › Article › peer-review

50 Scopus citations

Abstract

In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space.

Original language	English
Pages (from-to)	1800-1805
Number of pages	6
Journal	Automatica
Volume	47
Issue number	8
DOIs	https://doi.org/10.1016/j.automatica.2011.04.017
State	Published - Aug 2011

Keywords

Communication failure
Distributed algorithms
Graph theory
Multi-robot coordination

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10.1016/j.automatica.2011.04.017

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title = "A novel approach to coordination of multiple robots with communication failures via proximity graph",

abstract = "In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space.",

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AU - Feng, Gang

AU - Wang, Yong

AU - Qiu, Jianbin

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N2 - In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space.

AB - In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space.

KW - Communication failure

KW - Distributed algorithms

KW - Graph theory

KW - Multi-robot coordination

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DO - 10.1016/j.automatica.2011.04.017

M3 - 文章

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VL - 47

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JO - Automatica

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A novel approach to coordination of multiple robots with communication failures via proximity graph

Abstract

Keywords

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