In this paper, we consider the problem of coordinating a multi-agent team to maintain a connected topology while equipped with limited field of view sensors. Applying the potential-based control framework and assuming agent interaction is encoded by a triangular geometry, we derive a distributed control law based on two non-linear functions, the point-to-line distance and the multivariate Gaussian, in order to achieve the topology control objective. Furthermore, we demonstrate a condition on digraphs for which the proposed control strategy achieves the system objective. Finally, numerical simulations are provided to corroborate the theoretical findings.
Santilli, M., Mukherjee, P., Gasparri, A., & Williams, R.K. (2019). Distributed connectivity maintenance in multi-agent systems with field of view interactions. In Proceedings of the American Control Conference (pp.766-771). Institute of Electrical and Electronics Engineers Inc..
Titolo: | Distributed connectivity maintenance in multi-agent systems with field of view interactions |
Autori: | |
Data di pubblicazione: | 2019 |
Serie: | |
Citazione: | Santilli, M., Mukherjee, P., Gasparri, A., & Williams, R.K. (2019). Distributed connectivity maintenance in multi-agent systems with field of view interactions. In Proceedings of the American Control Conference (pp.766-771). Institute of Electrical and Electronics Engineers Inc.. |
Handle: | http://hdl.handle.net/11590/377124 |
ISBN: | 978-1-5386-7926-5 |
Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |