A novel approach to coordination of multiple robots with communication failures via proximity graph

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)1800-1805
Journal / PublicationAutomatica
Volume47
Issue number8
Publication statusPublished - Aug 2011

Abstract

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. © 2011 Elsevier Ltd. All rights reserved.

Research Area(s)

  • Communication failure, Distributed algorithms, Graph theory, Multi-robot coordination

Citation Format(s)

A novel approach to coordination of multiple robots with communication failures via proximity graph. / Fan, Yuan; Feng, Gang; Wang, Yong et al.
In: Automatica, Vol. 47, No. 8, 08.2011, p. 1800-1805.

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review