Switched topology control for self-healing of mobile robot formation
移动机器人编队自修复的切换拓扑控制

To solve the self-healing problem of mobile robot formation with failed robots, a formation model combining switched topologies and an interaction dynamics model for mobile robot is established. Based on the analysis of the network topology with failed robots, we propose a switched topology control using local rules. Furthermore, considering the distributed information obtained by individual robots, we transform the topology control into an individual control for recursive self-healing with local interactions. The stability of the system with the individual control is also proved. Simulation results demonstrate the validity of the switched topology control, and show that the proposed control method has the advantages of shorter recovery time and lower power consumption over previous methods.