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The synchronized trajectory tracking control problem of multiple mobile robots under actuator faults is studied in this paper. We take the communication delays into consideration in system design and do not require that the network topology is symmetric. A distributed control design approach is proposed by incorporating the synchronized formation control method and a sufficient condition is obtained...
In this paper, we investigate the self-healing problem of mobile robot formation after some robots have been damaged, and present a gradient-based algorithm which enables mobile robots to restore the topology of the formation through local interactions among neighboring robots. Firstly, in order to optimize the repair path in a distributed manner, a gradient generation and diffusion mechanism is proposed...
Most of recent researches on P2P system focus on how to build a highly usable P2P overlay network. Researchers include small routing table, short query path and good robustness into their design objectives of overlay topology. In this paper, we present a general group theory method and define a new Cayley graph. Based on this graph, we propose a novel P2P overlay network called CHypercube, which has...
The objective of self-healing in mobile robot networks is to maintain not only logical topology but also physical one of a network when robots fail. An interaction dynamics model is first established to describe both logical and physical topologies of the network. Considering the mobility of mobile robot networks, we propose a recursive, distributed topology control for self-healing when mobile robots...
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