Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances

Zhi Feng; Chao Sun; Guoqiang Hu

doi:10.1109/CDC.2015.7402884

Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances

Zhi Feng
, Chao Sun
, Guoqiang Hu

Nanyang Technological University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

This paper studies a robust connectivity preserving rendezvous problem for a leader-following multi-robot system. Only a small group of mobile robots are informed to have access to the leader's information. A distributed control law is proposed such that connectivity preserving rendezvous is achieved regardless of the unknown nonlinear dynamics and disturbances. Although the multi-robot network has a dynamic network topology, the developed controller is able to maintain the connectivity of an initially connected communication network. Using the tools from algebraic graph theory, Lyapunov method, and nonsmooth analysis, sufficient conditions on the convergence of the closed-loop error systems are derived.

Original language	English
Title of host publication	54rd IEEE Conference on Decision and Control,CDC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4266-4271
Number of pages	6
ISBN (Electronic)	9781479978861
DOIs	https://doi.org/10.1109/CDC.2015.7402884
State	Published - 8 Feb 2015
Externally published	Yes
Event	54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan Duration: 15 Dec 2015 → 18 Dec 2015

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	54th IEEE Conference on Decision and Control, CDC 2015
Country/Territory	Japan
City	Osaka
Period	15/12/15 → 18/12/15

Keywords

Connectivity maintenance
Distributed gradient-based control
Multi-robot systems
Rendezvous

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10.1109/CDC.2015.7402884

Cite this

Feng, Z., Sun, C., & Hu, G. (2015). Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 4266-4271). Article 7402884 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402884

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title = "Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances",

abstract = "This paper studies a robust connectivity preserving rendezvous problem for a leader-following multi-robot system. Only a small group of mobile robots are informed to have access to the leader's information. A distributed control law is proposed such that connectivity preserving rendezvous is achieved regardless of the unknown nonlinear dynamics and disturbances. Although the multi-robot network has a dynamic network topology, the developed controller is able to maintain the connectivity of an initially connected communication network. Using the tools from algebraic graph theory, Lyapunov method, and nonsmooth analysis, sufficient conditions on the convergence of the closed-loop error systems are derived.",

keywords = "Connectivity maintenance, Distributed gradient-based control, Multi-robot systems, Rendezvous",

author = "Zhi Feng and Chao Sun and Guoqiang Hu",

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year = "2015",

month = feb,

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doi = "10.1109/CDC.2015.7402884",

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Feng, Z, Sun, C & Hu, G 2015, Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances. in 54rd IEEE Conference on Decision and Control,CDC 2015., 7402884, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4266-4271, 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, 15/12/15. https://doi.org/10.1109/CDC.2015.7402884

Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances. / Feng, Zhi; Sun, Chao; Hu, Guoqiang.
54rd IEEE Conference on Decision and Control,CDC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4266-4271 7402884 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Feng, Zhi

AU - Sun, Chao

AU - Hu, Guoqiang

PY - 2015/2/8

Y1 - 2015/2/8

N2 - This paper studies a robust connectivity preserving rendezvous problem for a leader-following multi-robot system. Only a small group of mobile robots are informed to have access to the leader's information. A distributed control law is proposed such that connectivity preserving rendezvous is achieved regardless of the unknown nonlinear dynamics and disturbances. Although the multi-robot network has a dynamic network topology, the developed controller is able to maintain the connectivity of an initially connected communication network. Using the tools from algebraic graph theory, Lyapunov method, and nonsmooth analysis, sufficient conditions on the convergence of the closed-loop error systems are derived.

AB - This paper studies a robust connectivity preserving rendezvous problem for a leader-following multi-robot system. Only a small group of mobile robots are informed to have access to the leader's information. A distributed control law is proposed such that connectivity preserving rendezvous is achieved regardless of the unknown nonlinear dynamics and disturbances. Although the multi-robot network has a dynamic network topology, the developed controller is able to maintain the connectivity of an initially connected communication network. Using the tools from algebraic graph theory, Lyapunov method, and nonsmooth analysis, sufficient conditions on the convergence of the closed-loop error systems are derived.

KW - Connectivity maintenance

KW - Distributed gradient-based control

KW - Multi-robot systems

KW - Rendezvous

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U2 - 10.1109/CDC.2015.7402884

DO - 10.1109/CDC.2015.7402884

M3 - 会议稿件

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T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 4266

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BT - 54rd IEEE Conference on Decision and Control,CDC 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 54th IEEE Conference on Decision and Control, CDC 2015

Y2 - 15 December 2015 through 18 December 2015

ER -

Robust connectivity preserving rendezvous of multi-robot systems under unknown dynamics and disturbances

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Keywords

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