Distributed Connectivity Control of Mobile Networks

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General Robotics, Automation, Sensing and Perception Laboratory
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TOPOLOGY-CONTROL
COORDINATION
CONSENSUS
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Control of mobile networks raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In particular, in applications involving mobile sensor networks and multiagent systems, a great new challenge is the development of distributed motion algorithms that guarantee connectivity of the overall network. Motivated by the inherently discrete nature of graphs as combinatorial objects, we address this challenge using a key control decomposition. First, connectivity control of the network structure is performed in the discrete space of graphs and relies on local estimates of the network topology used, along with algebraic graph theory, to verify link deletions with respect to connectivity. Tie breaking, when multiple such link deletions can violate connectivity, is achieved by means of gossip algorithms and distributed market-based control. Second, motion control is performed in the continuous configuration space, where nearest-neighbor potential fields are used to maintain existing links in the network. Integration of the earlier controllers results in a distributed, multiagent, hybrid system, for which we show that the resulting motion always ensures connectivity of the network, while it reconfigures toward certain secondary objectives. Our approach can also account for communication time delays as well as collision avoidance and is illustrated in nontrivial computer simulations.

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2008-12-20
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Copyright 2008 IEEE. Reprinted from: Zavlanos, M.M.; Pappas, G.J., "Distributed Connectivity Control of Mobile Networks," Robotics, IEEE Transactions on , vol.24, no.6, pp.1416-1428 , Dec. 2008 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4696009&isnumber=4717845 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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