An Iterative Graph Generation Method for Motion Coordination of Mobile Robotic Networks
This paper presents a crystal-grid graph generation method for construction of the communication topology of a mobile robotic network.The notion of edge degree of undirected graphs is de fined and the structure properties of crystal-grid graphs are discussed.The method firstly makes a complete graph of three nodes as the base graph,and then builds a sequence of intermediate graphs by adding other nodes iteratively until the final graph de fined on all nodes is attained.In this procedure,the addition of new nodes and edges satis fies the constraints induced by the properties of crystal-grid graphs.Finally,the simulation results verify the effectiveness of the algorithm and its adaptability to different initial con figurations of mobile robotic networks.
XING Guansheng SHAO Yan CHEN Haiyong SUN Hexu
School of Control Science and Engineering,Hebei University of Technology,Tianjin 300130,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-5
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）