Title :
Potential Fields for Maintaining Connectivity of Mobile Networks
Author :
Zavlanos, Michael M. ; Pappas, George J.
Author_Institution :
Pennsylvania Univ., Philadelphia
Abstract :
The control of mobile networks of multiple agents raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In this paper, we consider the problem of controlling a network of agents so that the resulting motion always preserves the connectivity property of the network. In particular, the connectivity condition is translated to differentiable constraints on individual agent motion by considering the dynamics of the Laplacian matrix and its spectral properties. Artificial potential fields are then used to drive the agents to configurations away from the undesired space of disconnected networks while avoiding collisions with each other. We conclude by illustrating a class of interesting problems that can be achieved while preserving connectivity constraints.
Keywords :
collision avoidance; eigenvalues and eigenfunctions; graph theory; matrix algebra; mobile agents; mobile robots; motion control; multi-agent systems; multi-robot systems; Laplacian matrix; artificial potential field; collision avoidance; connectivity condition; dynamic graph; mobile network; mobile robot; motion control; Automatic control; Control systems; Drives; Eigenvalues and eigenfunctions; Laplace equations; Motion control; Multiagent systems; Open loop systems; Robust stability; Vehicle dynamics; Dynamic graphs; Laplacian matrix; graph connectivity; potential fields;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2007.900642