Asynchronous distributed averaging on communication networks
IEEE/ACM Transactions on Networking (TON)
Automatica (Journal of IFAC)
Controllability of Multi-Agent Systems from a Graph-Theoretic Perspective
SIAM Journal on Control and Optimization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Navigation of Multiple Kinematically Constrained Robots
IEEE Transactions on Robotics
Distributed Connectivity Control of Mobile Networks
IEEE Transactions on Robotics
Automatica (Journal of IFAC)
Connectivity preservation for multi-agent rendezvous with link failure
Automatica (Journal of IFAC)
Opinion consensus of modified Hegselmann-Krause models
Automatica (Journal of IFAC)
Hi-index | 22.15 |
In this paper we derive a set of constraints that are sufficient to guarantee maintained connectivity in a leader-follower multi-agent network with a proximity based communication topology. In the scenario we consider, only the leaders are aware of the global mission, which is to converge at a known destination point. Thus, the followers need to stay in contact with the group of leaders in order to reach the goal. In the paper we show that we can maintain the initial network structure, and thereby connectivity, by setting up bounds on the ratio of leaders-to-followers and on the magnitude of the goal attraction force experienced by the leaders. The results are first established for an initially complete communication graph and then extended to an incomplete graph. The results are illustrated by computer simulations.