Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2012.18.3.218

Cooperation with Ground and Arieal Vehicles for Multiple Tasks: Decentralized Task Assignment and Graph Connectivity Control  

Moon, Sung-Won (Seoul National University)
Kim, Hyoun-Jin (Seoul National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.3, 2012 , pp. 218-223 More about this Journal
Abstract
Maintenance and improvement of the graph connectivity is very important for decentralized multi-agent systems. Although the CBBA (Consensus-Based Bundle Algorithm) guarantees suboptimal performance and bounded convergence time, it is only valid for connected graphs. In this study, we apply a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimation, we design a decentralized gradient controller to maintain the graph connectivity while agents are traveling to perform assigned tasks. Simulation result for fully-actuated first-order agents that move in a 2-D plane are presented.
Keywords
decentralized task assignment; decentralized connectivity control; multi-agents;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 M. M. Zavalanos and G. J. Pappas, "Distributed connectivity control of mobile networks," IEEE Transactions in Robotics, vol. 24, no. 6, pp. 1416-1428, Dec. 2008.   DOI
2 P. Yang, R. A. Freeman, G. J. Gordon, K. M. Lynch, S. S. Srinivasa, and R. Sukthankar, "Decentralized estimation and control of graph connectivity for mobile sensor networks," Automatica, vol. 46, no. 2, pp. 390-396, Feb. 2010.   DOI
3 R. A. Freeman, P. Yang, and K. M. Lynch, "Stability and convergence properties of dynamic consensus estimators," In IEEE International Conference on Decision and Control, pp. 338-343, Dec. 2006.
4 F. Cucker and S. Smale, "Emergent behavior in flocks," IEEE Transactions on Automatic Control, vol. 52, no. 5, pp. 852-862, May 2007.   DOI   ScienceOn
5 C. Belta and V. Kumar, "Abstraction and control for groups of robots," IEEE Transactions on Robotics, vol. 20, no. 5, pp. 865-875, Oct. 2004.   DOI
6 J. B. Park and B. S. Park, "Leader-following based adaptive formation control for multiple mobile robots," vol. 16, no. 5, pp. 428-432, May 2010.   과학기술학회마을   DOI
7 J. S. Kim and B. K. Kim, "Time-efficient trajectory planning algorithms for multiple mobile robots in nuclear/chemical reconnaissance system," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 15, no. 10, pp. 1047-1055, Oct. 2009.   과학기술학회마을   DOI
8 L. Brunet, H. L. Choi, and J. P. How, "Consensus-based auction approaches for decentralized task assignment," presented at the AIAA Guidance, Navigation, Control Conference, vol. AIAA-2008-6839, Aug. 2008.
9 M. M. Zavalanos and G. J. Pappas, "Controlling connectivitiy of dynamic graphs," In IEEE Conference on Decision and Control, pp. 6388-6393, Dec. 2005.
10 M. M. Zavalanos and G. J. Pappas, "Potential fields for maintaining connectivity of mobile networks," IEEE Transactions on Robotics, vol. 23, no. 4, pp. 812-816, Aug. 2007.   DOI
11 D. P. Spanos and R. M. Murray, "Robust connectivity of networked vehicles," In IEEE international conference on decision and control, pp. 2893-2898, Dec. 2004.