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Motion Planning with Wireless Network Constraints |
Abstract |
This work discusses feasibility aspects of … This work discusses feasibility aspects of motion planning for
groups of agents connected by a range-constrained wireless
network. Specifically, we address the difficulties encountered
when trajectories are required to preserve the connectedness of
the network. The analysis utilizes a quantity called the
connectivity robustness of the network, which can be
calculated in a distributed fashion, and thus is applicable to
distributed motion planning problems arising in control of vehicle
networks. Further, these results show that network constraints
posed as connectivity robustness constraints have minimal impact
on reachability, provided that an appropriate topology control
algorithm is implemented. This contrasts with more naive
approaches to connectivity maintenance, which can significantly
reduce the reachable set. an significantly
reduce the reachable set. +
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Authors | Demetri P. Spanos and Richard M. Murray + |
ID | 2005e + |
Source | 2005 American Control Conference + |
Tag | sm05-acc + |
Title | Motion Planning with Wireless Network Constraints + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:17:59 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/sm05-acc.pdf + |
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Motion Planning with Wireless Network Constraints + | Title |
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