Journal
AUTOMATICA
Volume 47, Issue 8, Pages 1800-1805Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2011.04.017
Keywords
Multi-robot coordination; Communication failure; Distributed algorithms; Graph theory
Funding
- Research Grants Council of Hong Kong [CityU-113209]
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In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space. (C) 2011 Elsevier Ltd. All rights reserved.
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