We provide a theoretical framework for controlling graph connectivity in mobile robot networks. discuss proximity-based communication models composed of disk-based or uniformly-fading-signal-strength links. A graph-theoretic definition is provided, as well an equivalent based on algebraic theory, which employs the adjacency and Laplacian matrices their spectral properties. Based these results, we centralized distributed algorithms to maintain, increase, control The various approaches...

The control of mobile networks multiple agents raises fundamental and novel problems in controlling the structure resulting dynamic graphs. In this paper, we consider problem a network so that motion always preserves connectivity property network. particular, condition is translated to differentiable constraints on individual agent by considering dynamics Laplacian matrix its spectral properties. Artificial potential fields are then used drive configurations away from undesired space...

Control of mobile networks raises fundamental and novel problems in controlling the structure resulting dynamic graphs. In particular, applications involving sensor multiagent systems, a great new challenge is development distributed motion algorithms that guarantee connectivity overall network. Motivated by inherently discrete nature graphs as combinatorial objects, we address this using key control decomposition. First, network performed <i xmlns:mml="http://www.w3.org/1998/Math/MathML"...

In this technical note, we address the combined problem of motion and network topology control in a group mobile agents with common objective flocking behavior group. Instead assuming connectivity, enforce it by means distributed that decides on both deletion creation communication links between agents, adapting to group's spatial distribution. With protocol ensuring decentralized controller aligns agent velocity vectors regulates inter-agent distances maintain existing links. The stability...

Distributed task assignment for multiple agents raises fundamental and novel problems in control theory robotics. A new challenge is the development of distributed algorithms that dynamically assign tasks to agents, not relying on a priori information. We address this using market-based coordination protocols where are able bid with assumption every agent has knowledge maximum number any given can accommodate. show our approach always achieves desired after exploring at most polynomial...

The assignment problem constitutes one of the fundamental problems in context linear programming. Besides its theoretical significance, frequent appearance areas distributed control and facility allocation, where problems¿ size cost for global computation information can be highly prohibitive, gives rise to need local solutions that dynamically assign distinct agents tasks, while maximizing total benefit. In this paper, we consider networked systems, main challenge is dealing with lack due...

Coordinated motion of multiple agents raises fundamental and novel problems in control theory robotics. In particular, applications such as consensus seeking or flocking by a group mobile agents, great new challenge is the development robust distributed algorithms that can always achieve desired coordination. this paper, we address embedding requirement for connectivity underlying communication network controller specifications. We employ double integrator models design nearest neighbor...

In this paper we develop an intermittent communication framework for teams of mobile robots. Robots move along the edges a mobility graph and communicate only when they meet at vertices graph, giving rise to dynamic network. We design distributed controllers robots that determine meeting times nodes so connectivity network is ensured over time, infinitely often. show requirement can be captured by global Linear Temporal Logic (LTL) formula forces often points. To generate motion plans...

We present a reinforcement learning (RL) frame-work to synthesize control policy from given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as Markov Decision Process (MDP). Specifically, we learn maximizes the probability of satisfying LTL formula without transition probabilities. introduce novel rewarding and discounting mechanism based on such (i) optimal maximizing total discounted reward effectively probabilities objectives, (ii)...

This article proposes a new highly scalable and asymptotically optimal control synthesis algorithm from linear temporal logic specifications, called [Formula: see text] for large-Scale Temporal Logic Synthesis, that is designed to solve complex planning problems in large-scale multi-robot systems. Existing approaches with specifications rely on graph search techniques applied product automaton constructed among the robots. In our previous work, we have proposed more tractable sampling-based...

The control of mobile networks multiple agents raises fundamental and novel problems in controlling the structure resulting dynamic graphs. In this paper, we consider problem a network so that motion always preserves various connectivity properties. particular, preserving k-hop connectivity, where are allowed to move while maintaining connections no more than k-hops away. constraint is translated constrains on individual agent by considering dynamics adjacency matrix related constructs from...

Distributed motion planning of multiple agents raises fundamental and novel problems in control theory robotics. In particular, applications such as coverage by mobile sensor networks or target tracking, a great new challenge is the development algorithms that dynamically assign targets destinations to homogeneous agents, not relying on any priori assignment destinations. this paper, we address using two ideas. First, distributed multidestination potential fields are developed able drive...

Most coordinated tasks performed by teams of mobile robots require reliable communications between team members. Therefore, task accomplishment requires that navigate their environment with collective movement restricted to formations guarantee integrity the communication network. Maintaining this capability induces physical constraints on trajectories but also determination variables like routes and transmitted powers. This problem is addressed here using a distributed hybrid approach....

In this paper, a novel approach to achieving the independent control of multiple magnetic microrobots is presented. The utilizes specialized substrate consisting fine grid planar, MEMS-fabricated micro coils same size as (≤ 500 μm). can be used generate real potentials and, therefore, attractive and repulsive forces in workspace trajectories microrobots. Initial work on modelling coil microrobot behavior reported along with simulation results for navigating one two desired trajectories....

This paper proposes a new optimal control synthesis algorithm for multirobot systems under global temporal logic tasks. Existing planning approaches goals rely on graph search techniques applied to product automaton constructed among the robots. In this paper, we propose sampling-based that builds incrementally trees approximate state space and transitions of synchronous automaton. By approximating by tree rather than representing it explicitly, require much fewer memory resources store...

This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize finite-memory policy, such that high-level task specified as linear temporal logic formula satisfied with desired high probability. Uncertainty considered in the workspace properties, actions, and outcomes, giving rise Markov decision process models proposed system. Different from most existing methods, we consider cost optimization both prefix suffix system trajectory. We also...

In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local linear temporal logic formulas, share collected information with all other possibly also user. Specifically, consider situations where capabilities are not sufficient form reliable connected networks, while move their tasks. case, protocols necessary that allow temporarily disconnect from network in...

The majority of existing linear temporal logic (LTL) planning methods rely on the construction a discrete product automaton, which combines abstraction robot mobility and Büchi automaton that captures LTL specification. Representing this as graph using search techniques, optimal plans satisfy task can be synthesized. However, constructing expressive abstractions makes synthesis problem computationally intractable. In article, we propose new sampling-based algorithm does not require any...

Gene regulatory networks capture interactions between genes and other cell substances, resulting in various models for the fundamental biological process of transcription translation. The expression levels are typically measured as mRNA concentration micro-array experiments. In a so-called genetic perturbation experiment, small perturbations applied to equilibrium states changes activity measured. One most important problems systems biology is use these data identify interaction pattern...

In this paper, we consider networks of mobile robots responsible for servicing a collection tasks in complex environments, while ensuring end-to-end connectivity with fixed infrastructure access points. Tasks are associated specific locations the environment, announced sequentially, and not assigned priori to any robots. Information generated at is propagated points via multihop communication network. We propose distributed, hybrid control scheme that dynamically grows tree networks, rooted...