Details

Autor(en) / Beteiligte

• Murayama, Toru
• Iwasaki, Aoi

Titel

Bi-Connectivity Control for Multi-Robot Network Considering Line-of-Sight Communication

Ist Teil von

• Journal of robotics and mechatronics, 2023-08, Vol.35 (4), p.1028-1037

Ort / Verlag

Tokyo: Fuji Technology Press Co. Ltd

Erscheinungsjahr

2023

Link zum Volltext

Quelle

EZB Electronic Journals Library

Beschreibungen/Notizen

• This study proposes a bi-connectivity control algorithm for a multi-robot system consisting of a robot that communicates through line-of-sight communication. Optical observation and communication require a line of sight to a subject, and a robot in a multi-robot system sometimes impedes the line of sight between other robots. The motion of individual robots may violate the connectivity of the communication network. A distributed control strategy for bi-connectivity was constructed by modifying a previous method that does not consider line-of-sight restrictions. The results of the numerical simulation and experiments with actual robots are reported to emphasize the validity of the proposed control method.