Maintaining Connectivity in Mobile Robot Networks

摘要: While there has been significant progress in recent years the study of estimation and control dynamic network graphs, limited attention paid to experimental validation verification such algorithms on distributed teams robots. In this work we conduct an a non-trivial connectivity algorithm team seven nonholonomic robots as well simulation. The implementation is completely decentralized asynchronous, assuming that each robot only access its pose knowledge total number All other necessary information determined via message passing with neighboring We show algorithms, requiring complex inter-agent communication coordination, are feasible highly successful enabling adapt disturbances while preserving connectivity.