群ロボットネットワークの2重連結性制御手法の実験検証

抄録

In this study, we experimentally verify control methods for bi-connectivity of networks in a multi-robot system using actual robots. It is desirable for the network of a cooperative multi-robot system to be connected since the robots in the system exchange information via the network. To withstand single robot failure, the bi-connectedness of the network is important. The bi-connectedness should be resumed when it is violated. Previous studies proposed control methods for the bi-connectivity and verified them in computer simulations, they did not take into account uncertainties such as noise generated by sensors. Therefore, we experimented with the control method using a real multi-robot system. This paper describes the results of an autonomous decentralized estimation of perturbed algebraic connectivity which is required for the bi-connectivity control and the results of the bi-connectivity control experiments.