Distributed Tree Rearrangements for Reachability and Robust Connectivity
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Distributed Motion Constraints for Algebraic Connectivity of Robotic Networks
Journal of Intelligent and Robotic Systems
On connectivity maintenance in linear cyclic pursuit
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Keeping mobile robot swarms connected
DISC'09 Proceedings of the 23rd international conference on Distributed computing
Brief paper: Visibility maintenance via controlled invariance for leader-follower vehicle formations
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
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In this paper we consider ad-hoc networks of robotic agents with double integrator dynamics. For such networks, the connectivity maintenance problems are as follows: (i) Do there exist control inputs for each agent to maintain network connectivity, and (ii) given desired controls for each agent, can we compute the closest connectivity-maintaining controls in a distributed fashion? The proposed solution is based on three contributions. First, we define and characterize admissible sets for double integrators to remain inside disks. Second, we establish an existence theorem for the connectivity maintenance problem by introducing a novel state-dependent graph, called the double-integrator disk graph. Specifically, we show that one can always maintain connectivity by maintaining a spanning tree of this new graph, but one will not always maintain connectivity of a particular agent pair that happens to be connected at one instant of time. Finally, we design a distributed “flow-control” algorithm for distributed computation of connectivity-maintaining controls.