Maintaining Limited-Range Connectivity Among Second-Order Agents

Abstract

In this paper we consider ad-hoc networks of robotic agents with double integrator dynamics. For such networks, the connectivity maintenance problems are: (i) do there exist control inputs for each agent to maintain network connectivity, and (ii) given desired controls for each agent, can one compute the closest connectivity-maintaining controls in a distributed fashion. The proposed solution is based on three contributions. First, we define and characterize admissible sets for double integrators to remain inside disks. Second, we establish an existence theorem for the connectivity maintenance problem by introducing a novel state-dependent graph, called the double-integrator disk graph. Finally, we design a distributed "flow-control" algorithm to compute optimal connectivity-maintaining controls.

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Document Details

Document Type
Technical Report
Publication Date
Jul 07, 2016
Accession Number
AD1005968

Entities

People

  • Francesco Bullo
  • Giuseppe Notarstefano
  • Ketan Savla

Organizations

  • University of California, Santa Barbara

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Ad Hoc Networks
  • Algorithms
  • Autonomous Agents
  • Closed Loop Systems
  • Communication Networks
  • Computations
  • Computer Programming
  • Computer Programs
  • Control Systems
  • Convex Sets
  • Hypervelocity Flow
  • Mesh Networks
  • Networks
  • Optimization
  • Quadratic Programming
  • Two Dimensional
  • United States

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Computer Networking
  • Graph Algorithms and Convex Optimization.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • AI & ML - Neural Networks
  • Autonomy
  • Autonomy - Autonomous System Control