By Topic

Motion Synchronization in Mobile Robot Networks: Robustness

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Fei Zhang ; Inst. of Autom., Shanghai Jiao Tong Univ. ; Weidong Chen ; Yugeng Xi

Motion synchronization in mobile robot networks is a fundamental task in distributed multi-robot collaboration. In this paper, we investigate the robustness of synchronous speeds against robot and communication failures, an important feature of distributed systems. A performance metric is proposed to represent the robustness of the robot teams based on complex networks theories. Moreover, a distributed topology control algorithm to improve the robustness metric of groups of robots by increasing the communication range temporarily is presented. When the new topology is constructed and is stable, the range for communicating is reduced to the original value. Finally, the results of simulation experiments have demonstrated the efficiency of the proposed control algorithm while robots and connections fail in a robot group

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

9-15 Oct. 2006