## Abstract

In this talk we present a port-Hamiltonian approach to the

deployment on a line of a robotic sensor network (see e.g.

[3] for related work). Using the port-Hamiltonian modelling

framework has some clear benefits. Including physical interpretation

of the model, insight in the system’s energy and

structure, scalability, and use of the Hamiltonian for stability

analysis. A concise overview of port-Hamiltonian systems

theory can be found in [2].

Deployment on a line fits within the broader context of using

robotic sensors networks for (autonomous) inspection of

dikes. The aim of the autonomous dike inspection is to make

a group (swarm) of robotic sensor move along the surface of

the dike, while monitoring it with e.g. ground penetration

radars (GPR).

The ideas in this talk are inspired by [1], who uses a passivity

based-approach for coordination. It is well known that

there is a strong link between port-Hamiltonian systems and

passivity, which can be used in the stability analysis of the

network.

In this talk we’ll look at a network of N robots, which are

modelled as fully actuated point masses. The interaction

among the robots is represented by a graph G. The robots

correspond to the vertices of the graph. The M edges of the

graph correspond to virtual couplings [4], which are virtual

springs and dampers. The dynamics of the interconnected

system [4] are given by

q˙

vc = −B

T ∂H

∂ p

p˙ = B

∂H

∂q

vc −

D

r +BDvcB

T

∂H

∂ p

,

(1)

where q

vc

, p, B, H, D

r

, and D

vc denote respectively the

relative distances, momenta, incidence matrix of graph

G, Hamiltonian, robots dissipation matrix, and the virtual

dampers dissipation matrix.

deployment on a line of a robotic sensor network (see e.g.

[3] for related work). Using the port-Hamiltonian modelling

framework has some clear benefits. Including physical interpretation

of the model, insight in the system’s energy and

structure, scalability, and use of the Hamiltonian for stability

analysis. A concise overview of port-Hamiltonian systems

theory can be found in [2].

Deployment on a line fits within the broader context of using

robotic sensors networks for (autonomous) inspection of

dikes. The aim of the autonomous dike inspection is to make

a group (swarm) of robotic sensor move along the surface of

the dike, while monitoring it with e.g. ground penetration

radars (GPR).

The ideas in this talk are inspired by [1], who uses a passivity

based-approach for coordination. It is well known that

there is a strong link between port-Hamiltonian systems and

passivity, which can be used in the stability analysis of the

network.

In this talk we’ll look at a network of N robots, which are

modelled as fully actuated point masses. The interaction

among the robots is represented by a graph G. The robots

correspond to the vertices of the graph. The M edges of the

graph correspond to virtual couplings [4], which are virtual

springs and dampers. The dynamics of the interconnected

system [4] are given by

q˙

vc = −B

T ∂H

∂ p

p˙ = B

∂H

∂q

vc −

D

r +BDvcB

T

∂H

∂ p

,

(1)

where q

vc

, p, B, H, D

r

, and D

vc denote respectively the

relative distances, momenta, incidence matrix of graph

G, Hamiltonian, robots dissipation matrix, and the virtual

dampers dissipation matrix.

Original language | English |
---|---|

Pages | 111 |

Number of pages | 1 |

Publication status | Published - 27-Mar-2012 |

Event | 31th Benelux Meeting on Systems and Control - Hijen/Nijmegen, Netherlands Duration: 27-Mar-2012 → 29-Mar-2012 |

### Conference

Conference | 31th Benelux Meeting on Systems and Control |
---|---|

Country/Territory | Netherlands |

City | Hijen/Nijmegen |

Period | 27/03/2012 → 29/03/2012 |

## Keywords

- Port-Hamiltonian
- deployment
- line