Abstract-We develop a distributed controller to position a team of aerial vehicles in a configuration that optimizes communication-link quality, to support a team of ground vehicles performing a collaborative task. We propose a gradientbased control approach where agents' positions locally minimize a physically motivated cost function. The contributions of this paper are threefold. We formulate of a cost function that incorporates a continuous, physical model of signal quality, SIR. We develop a non-smooth gradient-based controller that positions aerial vehicles to acheive optimized signal quality amongst all vehicles in the system. This controller is provably convergent while allowing for non-differentiability due to agents moving in or out of communication with one another. Lastly, we guarantee that given certain initial conditions or certain values of the control parameters, aerial vehicles will never disconnect the connectivity graph. We demonstrate our controller on hardware experiments using AscTec Hummingbird quadrotors and provide aggregate results over 10 trials. We also provide hardware-in-the-loop and MATALB simulation results, which demonstrate positioning of the aerial vehicles to minimize the cost function H and improve signal-quality amongst all communication links in the ground/air robot team.
Reference REF develops a distributed controller to position a team of UAVs in a configuration that optimizes communication-link quality to support a team of UGVs performing a collaborative task, however the authors must assume the UGVs do not move to guarantee the connectivity of the combined UAV, UGV network.
Optimizing communication in air-ground robot networks using decentralized control
2010 IEEE International Conference on Robotics and Automation
2010 IEEE International Conference on Robotics and Automation
Engineering Computer Science