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A novel approach to coordination of multiple robots with communication failures via proximity graph |
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| Authors: | Yuan Fan Gang Feng Yong Wang Jianbin Qiu[Author vitae] |
| Affiliation: | aDepartment of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong;bDepartment of Automation, University of Science and Technology of China, Hefei 230026, China;cUSTC-CityU Suzhou Joint Advanced Research Centre, Suzhou 215123, China;dSchool of Automation, Nanjing University of Science and Technology, Nanjing 210094, China;eSpace Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China |
| Abstract: | In this paper, we investigate the coordination problem of multiple robots with limited communication ranges and communication failures. A novel rendezvous algorithm via proximity graph is developed so that the robot group can achieve rendezvous when the communication links satisfy an ergodic assumption. The convergence proof of the algorithm is established based on the tools from rooted graph theory. The effectiveness of the algorithm is illustrated by numerical examples in a 3D space. |
| Keywords: | Multi-robot coordination Communication failure Distributed algorithms Graph theory |
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