Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems

29 Mar 2020 Luo Wenhao Yi Sha Sycara Katia

In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call \textit{behavior mixing}. Behavior mixing is accomplished when different subgroups of the overall robot team change their controllers to collectively achieve given tasks while maintaining connectivity within and across subgroups in one connected communication graph... (read more)

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  • ROBOTICS