DocumentCode :
2915738
Title :
Decentralized estimation of topology changes in wireless robotic networks
Author :
Bezzo, Nicola ; Sorrentino, Fabio ; Fierro, Rafael
Author_Institution :
Dept. of Comput. & Inf. Sci., Univ. of Pennsylvania, Philadelphia, PA, USA
fYear :
2013
fDate :
17-19 June 2013
Firstpage :
5899
Lastpage :
5904
Abstract :
In this paper we present a novel decentralized technique to detect changes in the topology of a mobile robotic network. The network topology evolves due to the relative motion of the robots and the presence of obstacles in the environment. We consider that each robot is equipped with a chaotic oscillator whose state is propagated to the other robots through wireless communication. Under certain conditions, the states of the oscillators may synchronize, i.e., they converge on the same dynamical time evolution. The key idea of our approach is that by receiving and conveniently using an aggregate signal from the surrounding neighbors, each node may become able to detect changes in the local network topology. We introduce an adaptive strategy that each robot independently implements to: (i) estimate the net coupling from all the oscillators in its neighborhood, and (ii) synchronize the state of its oscillator with the others. We show that by using this strategy, synchronization can be attained and changes of the network topology can be detected. Numerical simulations validate the proposed methodology.
Keywords :
decentralised control; mobile robots; telecommunication network topology; wireless sensor networks; chaotic oscillator; decentralized estimation; dynamical time evolution; mobile robotic network; net coupling; network topology; relative motion; wireless communication; wireless robotic network; Chaotic communication; Network topology; Oscillators; Robot kinematics; Robot sensing systems; Synchronization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
ISSN :
0743-1619
Print_ISBN :
978-1-4799-0177-7
Type :
conf
DOI :
10.1109/ACC.2013.6580763
Filename :
6580763
Link To Document :
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