On the control of the algebraic connectivity and clustering of a mobile robotic network

Fabio Morbidi 1, 2
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : In this paper two related problems are studied: the control of the algebraic connectivity and clustering of a network of single-integrator agents. A steepest-descent algorithm is presented for the first problem, so that a smooth approximation of the algebraic connectivity of the underlying undirected communication graph converges to an assigned value. For the second problem, a new gradient-based control strategy is proposed to automatically partition the mobile robotic network into two predefined groups: our spectral clustering method leverages a continuous-time power-iteration algorithm on the normalized Laplacian matrix which provides an estimate of its Fiedler vector at each time instant. The results of numerical simulations are provided to illustrate our theoretical findings.
Type de document :
Communication dans un congrès
12th biannual European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. pp.2801-2806, 2013
Liste complète des métadonnées

Littérature citée [23 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-00961563
Contributeur : Fabio Morbidi <>
Soumis le : jeudi 20 mars 2014 - 11:25:13
Dernière modification le : mardi 8 mars 2016 - 15:04:57
Document(s) archivé(s) le : vendredi 20 juin 2014 - 11:05:40

Fichier

Morbidi_ECC13.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00961563, version 1

Collections

Citation

Fabio Morbidi. On the control of the algebraic connectivity and clustering of a mobile robotic network. 12th biannual European Control Conference (ECC 2013), Jul 2013, Zurich, Switzerland. pp.2801-2806, 2013. 〈hal-00961563〉

Partager

Métriques

Consultations de
la notice

174

Téléchargements du document

164