Bi-Connectivity Control for Multi-Robot Network Considering Line-of-Sight Communication-Reference-Cited by-同舟云学术

Bi-Connectivity Control for Multi-Robot Network Considering Line-of-Sight Communication

Published:2023-08-20 Issue:4 Volume:35 Page:1028-1037
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Murayama Toru¹^ORCID,Iwasaki Aoi¹

Affiliation:

1. National Institute of Technology, Wakayama College, 77 Noshima, Nada, Gobo, Wakayama 644-0023, Japan

Abstract

This study proposes a bi-connectivity control algorithm for a multi-robot system consisting of a robot that communicates through line-of-sight communication. Optical observation and communication require a line of sight to a subject, and a robot in a multi-robot system sometimes impedes the line of sight between other robots. The motion of individual robots may violate the connectivity of the communication network. A distributed control strategy for bi-connectivity was constructed by modifying a previous method that does not consider line-of-sight restrictions. The results of the numerical simulation and experiments with actual robots are reported to emphasize the validity of the proposed control method.

Funder

Japan Society for the Promotion of Science

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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