Connectedness preserving distributed swarm aggregation for multiple kinematic robots

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:28:04Z
dc.date.available	2014-03-01T01:28:04Z
dc.date.issued	2008	en
dc.identifier.issn	1552-3098	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18696
dc.subject	Distributed swarm coordination	en
dc.subject	Dynamic graphs	en
dc.subject	Graph connectivity	en
dc.subject	Multiagent coordination	en
dc.subject.classification	Robotics	en
dc.subject.other	Agglomeration	en
dc.subject.other	Graph theory	en
dc.subject.other	Kinematics	en
dc.subject.other	Aggregation algorithms	en
dc.subject.other	Communication graphs	en
dc.subject.other	Connectivity properties	en
dc.subject.other	Control laws	en
dc.subject.other	Distributed swarm coordination	en
dc.subject.other	Dynamic graphs	en
dc.subject.other	Edge additions	en
dc.subject.other	Graph connectivity	en
dc.subject.other	Kinematic robots	en
dc.subject.other	Loop systems	en
dc.subject.other	Multiagent coordination	en
dc.subject.other	Non-holonomic	en
dc.subject.other	Potential fields	en
dc.subject.other	Repulsive potential fields	en
dc.subject.other	Sensing radiuses	en
dc.subject.other	Swarm sizes	en
dc.subject.other	Agents	en
dc.title	Connectedness preserving distributed swarm aggregation for multiple kinematic robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TRO.2008.2002313	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TRO.2008.2002313	en
heal.language	English	en
heal.publicationDate	2008	en
heal.abstract	A distributed swarm aggregation algorithm is developed for a team of multiple kinematic agents. Specifically, each agent is assigned a control law, which is the sum of two elements: a repulsive potential field, which is responsible for the collision avoidance objective, and an attractive potential field, which forces the agents to converge to a configuration where they are close to each other. Furthermore, the attractive potential field forces the agents that are initially located within the sensing radius of an agent to remain within this area for all time. In this way, the connectivity properties of the initially formed communication graph are rendered invariant for the trajectories of the closed-loop system. It is shown that under the proposed control law, agents converge to a configuration where each agent is located at a bounded distance from each of its neighbors. The results are also extended to the case of nonholonomic kinematic unicycle-type agents and to the case of dynamic edge addition. In the latter case, we derive a smaller bound in the swarm size than in the static case. © 2008 IEEE.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Transactions on Robotics	en
dc.identifier.doi	10.1109/TRO.2008.2002313	en
dc.identifier.isi	ISI:000260865400025	en
dc.identifier.volume	24	en
dc.identifier.issue	5	en
dc.identifier.spage	1213	en
dc.identifier.epage	1223	en