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• W2130488638 abstract "Due to limited sensing and communication capabilities, a team of robots must maintain connectivity for information exchange while performing group tasks. Maintaining connectivity of networked robots is always a challenge in multirobot cooperation. In this paper, we develop a novel controller to guarantee multirobots with limited communication capabilities to approach their individual goal positions while maintaining network connectivity and avoiding self-collisions during motion. Physical size of the robot is particularly considered. A new inter-robot constraint named connectivity constraint is added to the constructed navigation function, which results in a potential field integrating navigation requirement, connectivity constraint and self-collision avoidance, simultaneously. Based on the improved navigation function, a controller with bounded control inputs is generated. Simulations are finally performed to demonstrate the effectiveness of proposed approaches." @default.
• W2130488638 created "2016-06-24" @default.
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• W2130488638 date "2011-08-01" @default.
• W2130488638 modified "2023-09-27" @default.
• W2130488638 title "Connectivity constrained multirobot navigation with considering physical size of robots" @default.
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• W2130488638 doi "https://doi.org/10.1109/ical.2011.6024678" @default.
• W2130488638 hasPublicationYear "2011" @default.
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