A passivity-based decentralized strategy for generalized connectivity maintenance

Abstract

The design of decentralized controllers coping with the typical constraints on the inter-robot sensing/communication capabilities represents a promising direction in multi-robot research thanks to the inherent scalability and fault tolerance of these approaches. In these cases, connectivity of the underlying interaction graph plays a fundamental role: it… (More)
DOI: 10.1177/0278364912469671

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