2014/11/28 by Vinícius A. Battagello, Battagello, Vinícius A., Carlos H. C. Ribeiro +1
Computer Science · Engineering · #B.8.2 #C.1.4 #C.4 #Distributed Control Multi-Agent Systems #Distributed systems and fault tolerance #FOS: Computer and information sciences #I.2.11 #I.2.9 #Modular Robots and Swarm Intelligence #Multiagent Systems (cs.MA) #cs.MA
paper · pdf · doi:10.48550/arxiv.1412.0055
6 pages, 7 figures, published in CINTI 2014
openalex publication_date 2014/11/28 · arxiv created 2014/11/29 · arxiv updated 2014/12/02 · openalex created_date 2022/10/03 · openalex updated_date 2026/07/28
To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with obstacles. However, when dealing with real-robot systems, several sources of data corruption can appear in the agent interaction. In this paper, the effects of failure and noise in the communication between agents are analyzed upon a connectivity maintenance control strategy. The results show that the connectivity strategy is resilient to the negative effects of such disturbances under realistic settings that consider a bandwidth limit for the control effort. This opens the perspective of applying the connectivity maintenance strategy in adaptive schemes that consider, for instance, autonomous adaptation to constraints other than connectivity itself, e.g. communication efficiency and energy harvesting.