Optimal Topology Selection for Stable Coordination of Asymmetrically Interacting Multi-Robot Systems
Pratik Mukherjee,Matteo Santilli,Andrea Gasparri,Ryan K. Williams,Pratik Mukherjee,Matteo Santilli,Andrea Gasparri,Ryan K. Williams
In this paper, we address the problem of optimal topology selection for stable coordination of multi-robot systems with asymmetric interactions. This problem arises naturally for multi-robot systems that interact based on sensing, e.g., with limited field of view (FOV) cameras. From our previous efforts on motion control in such settings, we have shown that not all interaction topologies yield sta...
