On distributed maximization of algebraic connectivity in robotic networks

Proceedings of the American Control Conference

Volumn , Issue , 2011, Pages 2180-2185

  Simonetto, Andrea ^a   Keviczky, Tamás ^a   Babuška, Robert ^a  

^a DELFT UNIVERSITY OF TECHNOLOGY   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

ITERATIVE METHODS; ROBOTS;

ALGEBRAIC CONNECTIVITY; COMMUNICATION GRAPHS; DISTRIBUTED SOLUTIONS; LAPLACIANS; NON-ITERATIVE; PAIRWISE DISTANCES; ROBOTIC NETWORKS; SEMI-DEFINITE PROGRAM (SDP);

ALGEBRA;

EID: 80053162504     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/acc.2011.5990911     Document Type: Conference Paper

References (30)

1. N. E. Leonard, D. A. Paley, R. E. Davis, D. M. Fratantoni, F. Lekien, and F. Zhang, "Coordinated Control of an Underwater Glider Fleet in an Adaptive Ocean Sampling Field Experiment in Monterey Bay,"Journal of Field Robotics, 2010, in press.
2. D. Izzo and L. Pettazzi, "Autonomous and Distributed Motion Planning for Satellite Swarm," Journal of Guidance, Control and Dynamics, vol. 30, no. 2, pp. 449-459, 2007. (Pubitemid 46504928)
3. H. Y. K. Lau and A. W. Y. Ko, "Coordination of Cooperative Search and Rescue Robots for Disaster Relief," in Proceedings of IFAC World Congress, Seul, Korea, July 6-11 2008.
4. D. Casbeer, D. B. Kingston, R. W. Beard, and T. W. McLain, "Cooperative Forest Fire Surveillance using a Team of Small Unmanned Air Vehicles," International Journal of Systems Science, vol. 37, no. 6, pp. 351-360, 2006.
5. G. Mathews and H. Durrant-Whyte, "Decentralised Optimal Control for Reconnaissance," in Proceedings of the Conference on Information, Decision and Control, Adelaide, Australia, February 12-14 2007.
6. F. Bullo, J. Cortés, and S. Martínez, Distributed Control of Robotic Networks, ser. Applied Mathematics Series. Princeton University Press, 2008.
7. T. Keviczky and K. H. Johansson, "A Study on Distributed Model Predictive Consensus," in Proceedings of IFAC World Congress, Seul, Korea, July 6-11 2008.
8. W. Ren and R. Beard, Distributed Consensus in Multi-Vehicle Cooperative Control: Theory and Applications. Springer-Verlag London, 2008.
9. R. Olfati-Saber, and R. Murray, "Consensus Problems in Networks of Agents with Switching Topology and Time-Delays," IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1520-1533, September 2004.
10. J. Cortés, "Distributed Algorithms for Reaching Consensus on General Functions," Automatica, vol. 44, pp. 726-737, 2008.
11. J. Derenick, J. Spletzer, and A. Hsieh, "An Optimal Approach to Collaborative Target Tracking with Performance Guarantees," Journal of Intelligent Robotic Systems, vol. 56, pp. 47-67, 2009.
12. B. Grocholsky, A. Makarenko, and H. Durrant-Whyte, "Information- Theoretic Coordinated Control of Multiple Sensor Platforms," in Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 14-19 2003.
13. T. H. Chung, V. Gupta, J. W. Burdick, and R. M. Murray, "On a Decentralized Active Sensing Strategy using Mobile Sensor Platforms in a Network," in Proceedings of the 43rd IEEE Conference on Decision and Control, Paradise Island, the Bahamas, December 14- 17 2004.
14. S. Martínez and F. Bullo, "Optimal sensor placement and motion coordination for target tracking," Automatica, vol. 42, pp. 661-668, 2006. (Pubitemid 43267659)
15. D. A. Anisi, X. Hu, and P. Ögren, "Connectivity constrained multiugv surveillance," in Proceedings of the 17th IFAC World Congress, Seoul, Korea, July 2008.
16. D. Spanos and R. M. Murray, "Robust Connectivity of Networked Vehicles," in Proceedings of the 44th IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas, December 2004.
17. J. Cortés, S. Mart́nez, and F. Bullo, "Robust Rendezvous for Mobile Autonomous Agents via Proximity Graphs in Arbitrary Dimensions,"IEEE Transaction on Automatic Control, vol. 51, no. 8, pp. 1289-1298, August 2006. (Pubitemid 44283231)
18. P. Yang, R. A. Freeman, G. J. Gordon, K. M. Lynch, S. S. Srinivasa, and R. Sukthankar, "Decentralized Estimation and Control of Graph Connectivity in Mobile Sensor Networks," in Proceedings of the American Control Conference, Seattle, WA, USA, June 11-13 2008.
19. M. M. Zavlanos and G. J. Pappas, "Distributed Connectivity Control of Mobile Networks," IEEE Transactions on Robotics, vol. 24, no. 6, pp. 1416-1428, December 2008.
20. M. M. Zavlanos, H. G. Tanner, and A. Jadbabaie, "Hybrid Control for Connectivity Preserving Flocking," IEEE Transactions on Automatic Control, vol. 54, no. 12, pp. 2869-2875, December 2009.
21. M. Schuresko and J. Cortés, "Distributed Motion Constraints for Algebraic Connectivity of Robotic Networks," Journal of Intelligent Robotics Systems, vol. 56, pp. 99-126, 2009.
22. M. C. De Gennaro and A. Jadbabaie, "Decentralized Control of Connectivity for Multi-Agent Systems," in Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA, December 13-15 2006.
23. Y. Kim and M. Mesbahi, "On Maximizing the Second Smallest Eigenvalue of a State-Dependent Graph Laplacian," IEEE Transactions of Automatic Control, vol. 51, no. 1, pp. 116-120, January 2006. (Pubitemid 43137938)
24. S. Boyd, "Convex Optimization of Graph Laplacian Eigenvalues," in Proceedings of the International Congress of Mathematicians, Madrid, Spain, 2006, pp. 1311-1319.
25. D. P. Bertsekas and J. N. Tsitsiklis, Parallel and Distributed Computation: Numerical Methods. Athena Scientific, Belmont, Massachusetts, 1997.
26. C. Langbort, L. Xiao, R. D'Andrea, and S. Boyd, "A Decomposition Approach to Distributed Analysis of Networked Systems," in Proceedings of the 43rd IEEE Conference on Decision and Control, Bahamas, 2004.
27. A. Rantzer, "Dynamic Dual Decomposition for Distributed Control,"in Proceedings of American Control Conference, St. Louis, MO, USA, June 10-12 2009.
28. A. Simonetto, T. Keviczky, and R. Babuška, "Distributed Algebraic Connectivity Maximization for Robotic Networks: A Heuristic Approach,"in Proceedings of the 10th International Symposium on Distributed Autonomous Robotics Systems, Lausanne, Switzerland, November 2010.
29. I. D. Ivanov and E. De Klerk, "Parallel Implementation of a Semidefinite Programming Solver based on CSDP on a Distributed Memory Cluster, " Optimization Methods and Software, vol. 25, no. 3, pp. 405-420, June 2010.
30. X. Zhao, D. Sun, and K. C. Toh, "A Newton-CG Augmented Lagrangian Method for Semidefinite Programming," SIAM Journal on Optimization, vol. 20, pp. 1737-1765, 2010.