The Multi-Agent Rendezvous Problem. Part 1: The Synchronous Case
SIAM Journal on Control and Optimization
Maintaining Limited-Range Connectivity Among Second-Order Agents
SIAM Journal on Control and Optimization
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots
IEEE Transactions on Robotics
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The paper studies the cyclic pursuit problem in presence of connectivity constraints among single-integrator agents. The robots, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle, are supposed to have a communication set described by a disk of constant radius. Given the initial position of the agents, we determine the communication radii that preserve the connectivity of the robots while they rendezvous at a point or converge to an evenly spaced circle formation. The special case that the initial condition is a linear combination of the eigenvectors of the dynamic matrix of the system, is studied in detail. On the other hand, given the communication radii, we find the set of initial conditions that guarantee the robots remain always connected. As a final contribution, once assigned a "non-optimal" radius, we study the stability of the hybrid system describing the dynamics of the robotic network under variable connectivity levels.