Directed Graph Topology Preservation in Multi-Robot Systems With Limited Field of View Using Control Barrier Functions

Directed Graph Topology Preservation in Multi-Robot Systems With Limited Field of View Using Control Barrier Functions

This paper addresses the crucial challenge of maintaining the directed graph topology in multi-robot systems, particularly when operating under limited field-of-view constraints and with a lack of communication among robots. Traditional methods for multi-robot coordination rely heavily on inter-robo...

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Bibliographic Details
Main Authors: Filippo Bertoncelli, Vivek Radhakrishnan, Mattia Catellani, Giuseppe Loianno, Lorenzo Sabattini
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Multi-robot systems
topology
optimal control
distributed robot systems
Online Access:https://ieeexplore.ieee.org/document/10387314/

Internet

https://ieeexplore.ieee.org/document/10387314/

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