HERO: A Hybrid Connectivity Restoration Framework for Mobile Multi-Agent Networks

摘要：

In mobile multi-agent networks, connectivity is a crucial factor for network-wide collaborations. However, such connectivity can be easily sabotaged by a single or multiple simultaneous agent failure(s). To handle this problem, in this paper, a hybrid connectivity restoration framework, namely HERO, is developed. By integrating a distributed connectivity restoration algorithm with a potential function based motion controller, HERO can restore the connectivity of the disconnected networks subjected to a single or multiple simultaneous agent failure(s). In the meantime, inter-agent collisions and further partitions of the underlying networks can also be effectively avoided.

关键词： Connectivity restoration Mobile multi-agent systems Hybrid control Motion control Fault-tolerent

作者: Zhenqiang Mi Yang Yang Guangjun Liu

作者单位: University of Science and Technology Beijing,Beijing,100083 China Department of Aerospace Engineering,Ryerson University,Toronto,ON,M5B 2K3 Canada

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1702-1707

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）