Robustness in multi-robot systems

Robustness in multi-robot systems 2018-12-28T17:28:17+00:00

Project Description

Abstract

Decentralized control strategies for multi-robot systems typically assume the presence of a connected communication graph among the robots. This allows to assuming the possibility of exchange of information, so that robots can complete common tasks, and achieve common objectives.

While strategies exist for ensuring connectivity preservation as the robots move, typically the presence of failures is not considered. However, when dealing with real robotic systems, failures can not be neglected. As is well known from the literature on complex networks, failures of the most central nodes can lead to fragmentation.

Our main idea is to propose methods for guaranteeing that, even in the presence of failure of a certain number of central nodes, the network remains connected.

We are considering two different approaches:

  • An analytic approach, in which we consider the concept of bi-connectivity. Using eigenvalue conditions, we guarantee the preservation of the bi-connectivity property, i.e. the presence of two alternative paths among each pair of robots.
  • A heuristic approach, in which each node estimates, based on local knowledge, its probability of being in a vulnerable configuration (i.e. about to lose connectivity), and subsequent mitigation policies.
Robustness in multi-robot systems

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People

LORENZO SABATTINI
LORENZO SABATTINIAssociate Professor
lorenzo.sabattini@unimore.it
Tel.: +39 052252 3528/2666

My main research interests are in the field of multi-robot systems and decentralized control. In particular, I’m working on coordination of multi-robot systems, decentralized…

CRISTIAN SECCHI
CRISTIAN SECCHIAssociate Professor
cristian.secchi@unimore.it
Tel.: +39 0522 522235

Cristian Secchi was born on February 4th, 1975. He graduated in computer science engineering, with majors in robotics and automation, at the University of Bologna (I) on July…

CESARE FANTUZZI
CESARE FANTUZZIFull Professor
cesare.fantuzzi@unimore.it
Phone: +39 0522 522 213

Cesare has over 25 years of experience in the area of industrial automation and robotics, with a solid scientific background certified by over 200 publications in leading …

Mehran Zareh

 

Selected publications

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Collaborations

Aeronautics Institute of Technology (ITA)

Brazil (Prof. Carlos H. C. Ribeiro, Dr. Cinara Ghedini)

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