Cooperation with Ground and Arieal Vehicles for Multiple Tasks: Decentralized Task Assignment and Graph Connectivity Control
Sung-Won Moon, Hyoun-Jin Kim · Journal of Institute of Control Robotics and Systems · 2012
Maintenance and improvement of the graph connectivity is very important for decentralized multi-agent systems. Although the CBBA (Consensus-Based Bundle Algorithm) guarantees suboptimal performance and bounded convergence time, it is only valid for connected graphs. In this study, we apply a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimation, we design a decentralized gradient controller to maintain the graph connectivity while agents are traveling to perform assigned tasks. Simulation result for fully-actuated first-order agents that move in a 2-D plane are presented.