Distributed computing: a locality-sensitive approach
Distributed computing: a locality-sensitive approach
Distributed Algorithms
Maintaining Limited-Range Connectivity Among Second-Order Agents
SIAM Journal on Control and Optimization
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Distributed Tree Rearrangements for Reachability and Robust Connectivity
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Active leading through obstacles using ant-colony algorithm
Neurocomputing
Decentralized connectivity maintenance for cooperative control of mobile robotic systems
International Journal of Robotics Research
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This paper studies connectivity maintenance of robotic networks that communicate at discrete times and move in continuous space. We propose a distributed coordination algorithm that allows the robots to decide whether a desired collective motion breaks connectivity. We build on this procedure to design a second coordination algorithm that allows the robots to modify a desired collective motion to guarantee that connectivity is preserved. These algorithms work under imperfect information caused by delays in communication and the robots' mobility. Under very outdated information, the proposed algorithms might prevent some or all of the robots from moving. We analyze the correctness of our algorithms by formulating them as games against a hypothetical adversary who chooses system states consistent with observed information. The technical approach combines tools from algebraic graph theory, linear algebra, and nonsmooth analysis.