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Distributed motion constraints for algebraic connectivity of robotic networks
M. Schuresko, J. Cortés
Proceedings of the IEEE Conference on Decision and Control, Cancun, Mexico, 2008, pp. 5482-5487

Abstract

This paper studies connectivity maintenance of robotic networks that communicate at discrete times and move in continuous space. Given a desired collective motion, we propose a distributed coordination algorithm that allows the robots to select a motion as close as possible to the original one while, at the same time, maintaining connectivity. The algorithm works under imperfect information caused by delays in communication and the robots' mobility. We analyze the correctness of the algorithm by formulating it as a game against a hypothetical adversary who chooses system states consistent with observed information. The technical approach combines tools from algebraic graph theory, linear algebra, wireless communications, and systems and control.

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