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  Decentralized Multi-target Exploration and Connectivity Maintenance with a Multi-robot System

Nestmeyer, T., Franchi, A., Bülthoff, H., & Robuffo Giordano, P. (2015). Decentralized Multi-target Exploration and Connectivity Maintenance with a Multi-robot System. In RSS 2015 Workshop: Reviewing the review process (pp. 1-8).

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-002A-4511-D Version Permalink: http://hdl.handle.net/21.11116/0000-0000-B5E4-2
Genre: Conference Paper

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 Creators:
Nestmeyer, T1, Author              
Franchi, A1, Author              
Bülthoff, HH1, Author              
Robuffo Giordano, P1, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: This paper presents a novel distributed control strategy that enables multi-target exploration while ensuring a time-varying connected topology in both 2D and 3D cluttered environments. Flexible continuous connectivity is guaranteed by gradient descent on a monotonic potential function applied on the algebraic connectivity (or Fiedler eigenvalue) of a generalized interaction graph. Limited range, line-of-sight visibility, and collision avoidance are taken into account simultaneously by weighting of the graph Laplacian. Completeness of the multi-target visiting algorithm is guaranteed by using a decentralized adaptive leader selection strategy and a suitable scaling of the exploration force based on the direction alignment between exploration and connectivity force and the traveling efficiency of the current leader. Extensive MonteCarlo simulations with a group of several quadrotor UAVs show the practicability, scalability and effectiveness of the proposed method.

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 Dates: 2015-07
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: NestmeyerFBR2015
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Title: RSS 2015 Workshop: Reviewing the review process
Place of Event: Roma, Italy
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Title: RSS 2015 Workshop: Reviewing the review process
Source Genre: Proceedings
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Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1 - 8 Identifier: -