TY - GEN
T1 - A multi-agent coverage algorithm with connectivity maintenance
AU - Choi, Sungjoon
AU - Lee, Kyungjae
AU - Oh, Songhwai
N1 - Funding Information:
This work was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (NRF-2017R1A2B2006136).
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/7
Y1 - 2017/12/7
N2 - This paper presents a connectivity control algorithm of a multi-agent system. The connectivity of the multi-agent system can be represented by the second smallest eigenvalue λ2 of the Laplacian matrix LG and it is also referred to as algebraic connectivity. Unlike many of the existing connectivity control algorithms which adapt convex optimization technique to maximize algebraic connectivity, we first show that the algebraic connectivity can be maximized by minimizing the weighted sum of distances between the connected agents. We implement a hill-climbing algorithm that minimizes the weighted sum of distances. Semi-definite programming (SDP) is used for computing proper weight w. Our proposed algorithm can effectively be mixed with other cooperative applications such as covering an unknown area or following a leader.
AB - This paper presents a connectivity control algorithm of a multi-agent system. The connectivity of the multi-agent system can be represented by the second smallest eigenvalue λ2 of the Laplacian matrix LG and it is also referred to as algebraic connectivity. Unlike many of the existing connectivity control algorithms which adapt convex optimization technique to maximize algebraic connectivity, we first show that the algebraic connectivity can be maximized by minimizing the weighted sum of distances between the connected agents. We implement a hill-climbing algorithm that minimizes the weighted sum of distances. Semi-definite programming (SDP) is used for computing proper weight w. Our proposed algorithm can effectively be mixed with other cooperative applications such as covering an unknown area or following a leader.
UR - http://www.scopus.com/inward/record.url?scp=85042367792&partnerID=8YFLogxK
U2 - 10.1109/MFI.2017.8170372
DO - 10.1109/MFI.2017.8170372
M3 - Conference contribution
AN - SCOPUS:85042367792
T3 - IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
SP - 512
EP - 517
BT - MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017
Y2 - 16 November 2017 through 18 November 2017
ER -