In this work we focus on the topology control problem for robotic networks. In particular, we assume agents to be equipped with limited field of view sensors. As a consequence, directed graphs are required to model the robot-to-robot interaction. This significantly limits the applicability of algorithms developed for undirected graphs. In that view, we propose an auction-based solution for the decentralized estimation of an approximated minimum (in terms of number of links and in terms of a global cost function) strongly connected directed graph. This represents the first step towards the development of a connectivity maintenance framework for directed graphs. A theoretical analysis along with numerical simulations are provided to show the effectiveness of the proposed approach. © 2012 IEEE.
Decentralized estimation of the minimum strongly connected subdigraph for robotic networks with limited field of view
Di Paola D;
2012
Abstract
In this work we focus on the topology control problem for robotic networks. In particular, we assume agents to be equipped with limited field of view sensors. As a consequence, directed graphs are required to model the robot-to-robot interaction. This significantly limits the applicability of algorithms developed for undirected graphs. In that view, we propose an auction-based solution for the decentralized estimation of an approximated minimum (in terms of number of links and in terms of a global cost function) strongly connected directed graph. This represents the first step towards the development of a connectivity maintenance framework for directed graphs. A theoretical analysis along with numerical simulations are provided to show the effectiveness of the proposed approach. © 2012 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
