Decentralized estimation and control of graph connectivity for mobile sensor networks

P. Yang; R. A. Freeman; G. J. Gordon; K. M. Lynch; S. S. Srinivasa; R. Sukthankar

doi:10.1016/j.automatica.2009.11.012

Decentralized estimation and control of graph connectivity for mobile sensor networks

P. Yang, R. A. Freeman^*, G. J. Gordon, K. M. Lynch, S. S. Srinivasa, R. Sukthankar

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

250 Scopus citations

Abstract

The ability of a robot team to reconfigure itself is useful in many applications: for metamorphic robots to change shape, for swarm motion towards a goal, for biological systems to avoid predators, or for mobile buoys to clean up oil spills. In many situations, auxiliary constraints, such as connectivity between team members or limits on the maximum hop-count, must be satisfied during reconfiguration. In this paper, we show that both the estimation and control of the graph connectivity can be accomplished in a decentralized manner. We describe a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimator, we further propose a decentralized gradient controller for each agent to maintain global connectivity during motion.

Original language	English (US)
Pages (from-to)	390-396
Number of pages	7
Journal	Automatica
Volume	46
Issue number	2
DOIs	https://doi.org/10.1016/j.automatica.2009.11.012
State	Published - Feb 2010

Keywords

Autonomous mobile robots
Connectivity
Decentralized control
Graph theory
Numerical algorithms

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/j.automatica.2009.11.012

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title = "Decentralized estimation and control of graph connectivity for mobile sensor networks",

abstract = "The ability of a robot team to reconfigure itself is useful in many applications: for metamorphic robots to change shape, for swarm motion towards a goal, for biological systems to avoid predators, or for mobile buoys to clean up oil spills. In many situations, auxiliary constraints, such as connectivity between team members or limits on the maximum hop-count, must be satisfied during reconfiguration. In this paper, we show that both the estimation and control of the graph connectivity can be accomplished in a decentralized manner. We describe a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimator, we further propose a decentralized gradient controller for each agent to maintain global connectivity during motion.",

keywords = "Autonomous mobile robots, Connectivity, Decentralized control, Graph theory, Numerical algorithms",

author = "P. Yang and Freeman, {R. A.} and Gordon, {G. J.} and Lynch, {K. M.} and Srinivasa, {S. S.} and R. Sukthankar",

note = "Funding Information: This work was supported in part by NSF grants ECS-0601661 and IIS-0308224, and by the Office of Naval Research. The material in this paper was partially presented at the 2008 American Control Conference at Seattle, Washington, USA, June 11–13, 2008. This paper was recommended for publication in revised form by Associate Editor Dragan Ne{\v s}i{\'c} under the direction of Editor Andrew R. Teel. ",

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AU - Freeman, R. A.

AU - Gordon, G. J.

AU - Lynch, K. M.

AU - Srinivasa, S. S.

AU - Sukthankar, R.

N1 - Funding Information: This work was supported in part by NSF grants ECS-0601661 and IIS-0308224, and by the Office of Naval Research. The material in this paper was partially presented at the 2008 American Control Conference at Seattle, Washington, USA, June 11–13, 2008. This paper was recommended for publication in revised form by Associate Editor Dragan Nešić under the direction of Editor Andrew R. Teel.

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AB - The ability of a robot team to reconfigure itself is useful in many applications: for metamorphic robots to change shape, for swarm motion towards a goal, for biological systems to avoid predators, or for mobile buoys to clean up oil spills. In many situations, auxiliary constraints, such as connectivity between team members or limits on the maximum hop-count, must be satisfied during reconfiguration. In this paper, we show that both the estimation and control of the graph connectivity can be accomplished in a decentralized manner. We describe a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimator, we further propose a decentralized gradient controller for each agent to maintain global connectivity during motion.

KW - Autonomous mobile robots

KW - Connectivity

KW - Decentralized control

KW - Graph theory

KW - Numerical algorithms

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Decentralized estimation and control of graph connectivity for mobile sensor networks

Abstract

Keywords

ASJC Scopus subject areas

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