Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Distributed tree rearrangements for reachability and robust
connectivity
M. Schuresko, J. Cortés
International Conference on Hybrid Systems: Computation and Control,
eds. R. Majumdar and P. Tabuada, Lecture Notes in Computer Science,
vol. 5469, Springer-Verlag, 2009, pp 470-474
Abstract
We study maintenance of network connectivity in robotic swarms
with discrete-time communications and continuous-time motion
capabilities. Assuming a network topology induced by
spatial proximity, we propose a coordination scheme which guarantees
connectivity of the network by maintaining a spanning tree at
all times. Our algorithm is capable of repairing the spanning
tree in the event of link failure, and of transitioning from any
initial tree to any other tree which is a subgraph of the
communications graph.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo