JRM Vol.35 No.4 pp. 1028-1037
doi: 10.20965/jrm.2023.p1028


Bi-Connectivity Control for Multi-Robot Network Considering Line-of-Sight Communication

Toru Murayama ORCID Icon and Aoi Iwasaki

National Institute of Technology, Wakayama College
77 Noshima, Nada, Gobo, Wakayama 644-0023, Japan

January 31, 2023
April 5, 2023
August 20, 2023
bi-connectivity, multi-robot, topology control, line of sight

This study proposes a bi-connectivity control algorithm for a multi-robot system consisting of a robot that communicates through line-of-sight communication. Optical observation and communication require a line of sight to a subject, and a robot in a multi-robot system sometimes impedes the line of sight between other robots. The motion of individual robots may violate the connectivity of the communication network. A distributed control strategy for bi-connectivity was constructed by modifying a previous method that does not consider line-of-sight restrictions. The results of the numerical simulation and experiments with actual robots are reported to emphasize the validity of the proposed control method.

Restore bi-connectivity of line-of-sight network

Restore bi-connectivity of line-of-sight network

Cite this article as:
T. Murayama and A. Iwasaki, “Bi-Connectivity Control for Multi-Robot Network Considering Line-of-Sight Communication,” J. Robot. Mechatron., Vol.35 No.4, pp. 1028-1037, 2023.
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