Decentralized estimation and control of graph connectivity in mobile sensor networks

Peng Yang; Randy A. Freeman; Geoffrey J. Gordon; Kevin M. Lynch; Siddhartha S. Srinivasa; Rahul Sukthankar

doi:10.1109/ACC.2008.4586897

Decentralized estimation and control of graph connectivity in mobile sensor networks

Peng Yang^*, Randy A. Freeman, Geoffrey J. Gordon, Kevin M. Lynch, Siddhartha S. Srinivasa, Rahul Sukthankar

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

43 Scopus citations

Abstract

The ability of a robot team to recon.gure 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 and limits on the maximum hop-count, must be satis.ed during recon.guration. 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)
Title of host publication	2008 American Control Conference, ACC
Pages	2678-2683
Number of pages	6
DOIs	https://doi.org/10.1109/ACC.2008.4586897
State	Published - 2008
Event	2008 American Control Conference, ACC - Seattle, WA, United States Duration: Jun 11 2008 → Jun 13 2008

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2008 American Control Conference, ACC
Country/Territory	United States
City	Seattle, WA
Period	6/11/08 → 6/13/08

ASJC Scopus subject areas

Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ACC.2008.4586897

Cite this

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

abstract = "The ability of a robot team to recon.gure 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 and limits on the maximum hop-count, must be satis.ed during recon.guration. 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.",

author = "Peng Yang and Freeman, {Randy A.} and Gordon, {Geoffrey J.} and Lynch, {Kevin M.} and Srinivasa, {Siddhartha S.} and Rahul Sukthankar",

year = "2008",

doi = "10.1109/ACC.2008.4586897",

language = "English (US)",

isbn = "9781424420797",

series = "Proceedings of the American Control Conference",

pages = "2678--2683",

booktitle = "2008 American Control Conference, ACC",

note = "2008 American Control Conference, ACC ; Conference date: 11-06-2008 Through 13-06-2008",

}

Yang, P, Freeman, RA, Gordon, GJ, Lynch, KM, Srinivasa, SS & Sukthankar, R 2008, Decentralized estimation and control of graph connectivity in mobile sensor networks. in 2008 American Control Conference, ACC., 4586897, Proceedings of the American Control Conference, pp. 2678-2683, 2008 American Control Conference, ACC, Seattle, WA, United States, 6/11/08. https://doi.org/10.1109/ACC.2008.4586897

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T1 - Decentralized estimation and control of graph connectivity in mobile sensor networks

AU - Yang, Peng

AU - Freeman, Randy A.

AU - Gordon, Geoffrey J.

AU - Lynch, Kevin M.

AU - Srinivasa, Siddhartha S.

AU - Sukthankar, Rahul

PY - 2008

Y1 - 2008

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AB - The ability of a robot team to recon.gure 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 and limits on the maximum hop-count, must be satis.ed during recon.guration. 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.

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Decentralized estimation and control of graph connectivity in mobile sensor networks

Abstract

Publication series

Other

ASJC Scopus subject areas

UN SDGs

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