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In this paper, the authors consider a team of robots that are tasked with tracking a moving target cooperatively, while maintaining their connectivity to a base station and avoiding collision. They propose a novel extension of the classical navigation function framework in order to ensure task completion. More specifically, they modify the classical definition of the navigation functions to incorporate measures of link qualities and include the impact of a time-varying objective. Their proposed communication-aware navigation function framework is aimed at maintaining robot connectivity in realistic communication environments, while avoiding collision with both fixed and moving obstacles.
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