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. [10.23919/acc.2019.8814457].
Distributed connectivity maintenance in multi-agent systems with field of view interactions
Santilli M.;Gasparri A.;
2019-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
