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Start Over Author "Gasparri, Andrea" Journal ieee transactions on robotics
12 results on '"Gasparri, Andrea"'

8. Multirobot Tree and Graph Exploration.

Author

Brass, Peter, Cabrera-Mora, Flavio, Gasparri, Andrea, and Xiao, Jizhong

Subjects
ROBOTS, GRAPH theory, TREE graphs, ALGORITHMS, SIMULATION methods & models, MATHEMATICAL analysis, ROBOTICS, CITIES & towns, RADIUS (Geometry)
Abstract

In this paper, we present an algorithm for the exploration of an unknown graph by multiple robots, which is never worse than depth-first search with a single robot. On trees, we prove that the algorithm is optimal for two robots. For k robots, the algorithm has an optimal dependence on the size of the tree but not on its radius. We believe that the algorithm performs well on any tree, and this is substantiated by simulations. For trees with e edges and radius r, the exploration time is less than 2e/k+(1+(k/r))^k-1(2/k!)r^k-1 =(2e/k) + O((k+r)^k-1) (for r>k, \le (2e/k) + 2r^k-1), thereby improving a recent method with time O((e/\log k) + r) refid="ref2"/, and almost reaching the lower bound max ((2e/k), 2r). The model underlying undirected-graph exploration is a set of rooms connected by opaque passages; thus, the algorithm is appropriate for scenarios like indoor navigation or cave exploration. In this framework, communication can be realized by bookkeeping devices being dropped by the robots at explored vertices, the states of which are read and changed by further visiting robots. Simulations have been performed in both tree and graph explorations to corroborate the mathematical results. [ABSTRACT FROM AUTHOR]

Published
2011
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9. Multirobot Field of View Control With Adaptive Decentralization

Author

Matteo Santilli, Pratik Mukherjee, Ryan K. Williams, Andrea Gasparri, Santilli, Matteo, Mukherjee, Pratik, Williams, Ryan K., and Gasparri, Andrea

Subjects
Control and Systems Engineering, Electrical and Electronic Engineering, Computer Science Applications
Published
2022

10. Generalized Topology Control for Nonholonomic Teams With Discontinuous Interactions

Author

Gaurav S. Sukhatme, Andrea Gasparri, Giovanni Ulivi, Ryan K. Williams, Williams, Ryan K., Gasparri, Andrea, Ulivi, Giovanni, and Sukhatme, Gaurav S.

Subjects
Nonholonomic system, 0209 industrial biotechnology, Correctness, Topology control, Logical topology, Computer Science Applications1707 Computer Vision and Pattern Recognition, 020206 networking & telecommunications, Extension topology, 02 engineering and technology, Network topology, Computer Science Applications, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, General topology, Electrical and Electronic Engineering, Topology (chemistry), Mathematics
Abstract

In this paper, we consider the problem of general topology control in multirobot systems with nonholonomic kinematics. Our contribution is twofold: We first demonstrate the correctness of topology control under the assumption that the network topology can switch arbitrarily and that potential-based mobility is discontinuous with respect to topology changes; we then demonstrate that a multirobot team under the above listed conditions continues to achieve topology control when actuator saturation is applied and in the presence of arbitrary discontinuous (and possibly nonpairwise) exogenous objectives. Simulation results are given to corroborate our theoretical findings.

Published
2017

11. Distributed Control of Multirobot Systems With Global Connectivity Maintenance

Author

Andrea Gasparri, Lorenzo Sabattini, Nikhil Chopra, Cristian Secchi, Sabattini, L, Secchi, C, Chopra, N, and Gasparri, Andrea

Subjects
Algebraic connectivity, Computer science, Distributed computing, multi-robot systems, connectivity, Graph theory, Mobile robot, Maintenance engineering, Decentralised system, Computer Science Applications, Computer Science::Robotics, Control and Systems Engineering, Control theory, Distributed parameter system, Graph (abstract data type), Robot, Electrical and Electronic Engineering
Abstract

This study introduces a control algorithm that, exploiting a completely decentralized estimation strategy for the algebraic connectivity of the graph, ensures the connectivity maintenance property for multi robot systems, in the presence of a generic (bounded) additional control term. This result is obtained by driving the robots along the negative gradient of an appropriately defined function of the algebraic connectivity. The proposed strategy is then enhanced with the introduction of the concept of critical robots, that is robots for which the loss of a single communication link might cause the disconnection of the communication graph. Limiting the control action to critical robots will be shown to reduce the control effort that is introduced by the proposed connectivity maintenance control law and to mitigate its effect on the additional (desired) control term.

Published
2013

12. Multirobot Tree and Graph Exploration

Author

Andrea Gasparri, Flavio Cabrera-Mora, Jizhong Xiao, Peter Brass, Brass, P, Cabrera Mora, F, Gasparri, Andrea, and Xiao, J.

Subjects
Discrete mathematics, Robot kinematics, Computational complexity theory, business.industry, Computer science, Mobile robot, Graph theory, Upper and lower bounds, Computer Science Applications, Control and Systems Engineering, Robot, Graph (abstract data type), Algorithm design, Computer vision, Artificial intelligence, Electrical and Electronic Engineering, business
Abstract

In this paper, we present an algorithm for the exploration of an unknown graph by multiple robots, which is never worse than depth-first search with a single robot. On trees, we prove that the algorithm is optimal for two robots. For k robots, the algorithm has an optimal dependence on the size of the tree but not on its radius. We believe that the algorithm performs well on any tree, and this is substantiated by simulations. For trees with e edges and radius r, the exploration time is less than 2e/k + (1 + (k/r))k-1 (2/k!)rk-1 = (2e/k) + O((k + r)k-1) (for r >; k

Published
2011

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