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Distributed Cooperative Coverage of Mobile Robots with Consensus-Based Connectivity Estimation
Online published: 2014-07-15
This paper deals with the discrete-time connected coverage problem with the constraint that only local information can be utilized for each robot. In such distributed framework, global connectivity characterized by the second smallest eigenvalue of topology Laplacian is estimated through introducing distributed minimaltime consensus algorithm and power iteration algorithm. A self-deployment algorithm is developed to disperse the robots with the precondition that the estimated second smallest eigenvalue is positive at each time-step. Since thus connectivity constraint does not impose to preserve some certain edges, the self-deployment strategy developed in this paper reserves a sufficient degree of freedom for the motion of robots. Theoretical analysis demonstrates that each pair of neighbor robots can finally reach the largest objective distance from each other while the group keeps connected all the time, which is also shown by simulations.
LI Xiao-li1,2* (李晓丽), ZHAO Shu-guang1 (赵曙光), LIU Hao1 (刘浩) . Distributed Cooperative Coverage of Mobile Robots with Consensus-Based Connectivity Estimation[J]. Journal of Shanghai Jiaotong University(Science), 2014 , 19(3) : 279 -286 . DOI: 10.1007/s12204-014-1500-z
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