Decentralized Robust k-connected Network with Unmanned Vehicles Using Vertex Connectivity

A robust network control law considering the failure of unmanned vehicles is proposed. The unmanned vehicles form a network and exchange information with neighbors. If some vehicles fail, the entire network may be disconnected and information cannot be exchanged. Therefore, the robust k-connected ne...

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Bibliographic Details
Published in2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) pp. 1902 - 1907
Main Authors Kata, Hiroaki, Ueno, Seiya
Format Conference Proceeding
LanguageEnglish
Published The Society of Instrument and Control Engineers - SICE 23.09.2020
Subjects
Instruments
MAS
Numerical simulation
Robust network
Unmanned vehicles
Vertex connectivity
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Summary:A robust network control law considering the failure of unmanned vehicles is proposed. The unmanned vehicles form a network and exchange information with neighbors. If some vehicles fail, the entire network may be disconnected and information cannot be exchanged. Therefore, the robust k-connected network which the network is connected even if less than k unmanned vehicles fail is configured in decentralized system. Each vehicle determines the velocity input according to the partial vertex connectivity which is evaluation of connectivity for each vehicle. Numerical simulations show that the proposed robust network control law is valid.
DOI:10.23919/SICE48898.2020.9240337