Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
Topology management in ad hoc networks
Proceedings of the 4th ACM international symposium on Mobile ad hoc networking & computing
Clustering in mobile wireless ad hoc networks: issues and approaches
Wireless communications systems and networks
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Potential Fields for Maintaining Connectivity of Mobile Networks
IEEE Transactions on Robotics
Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots
IEEE Transactions on Robotics
Data Collection in Wireless Sensor Networks with Mobile Elements: A Survey
ACM Transactions on Sensor Networks (TOSN)
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While a network of autonomous mobile agents is capable of performing spatially distributed tasks, communication between agents imposes a class of constraints over the corresponding task. This paper proposes a distributed paradigm to deal with a critical communication constraint, connectedness constraint, where a group of mobile agents are required to remain connected while performing a task (e.g., formation control, consensus, etc.). The proposed method adaptively extracts communication backbone of the group, which is formed by a subset of agents, and thus partitions the group into backbone agents and non-backbone agents. The connectedness of the system is maintained at two levels: motion of backbone agents is controlled to maintain existing connections in the backbone; motion of non-backbone agents is determined via a leader-follower formation control method with backbone agents as the leaders. Key advantages of the proposed approach are that it can deal with arbitrary system topologies, it is a distributed method, it uses only two-hop neighbor information, and has low communication cost.