Distributed Tree Rearrangements for Reachability and Robust Connectivity

Authors:
Michael Schuresko;Jorge Cortés
Affiliations:
Department of Applied Mathematics and Statistics, University of California, Santa Cruz,;Department of Mechanical and Aerospace Engineering, University of California, San Diego
Venue:
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Year:
2009

Citing 7
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Abstract

We study maintenance of network connectivity in robotic swarms with discrete-time communications and continuous-time motion capabilities. Assuming a network topology induced by spatial proximity, we propose a coordination scheme which guarantees connectivity of the network by maintaining a spanning tree at all times. Our algorithm is capable of repairing the spanning tree in the event of link failure, and of transitioning from any initial tree to any other tree which is a subgraph of the communications graph.