Maintaining Wireless Connectivity Constraints for Robot Swarms in the Presence of Obstacles

Algorithm 1

Algorithm for generating a feasible motion direction for Robot 𝑖, using time steps Δ𝑡.

Let 𝑡=0.

while  𝑞_𝑖≠𝑞^𝑓𝑖 do

 for  𝑗 such that there exists 𝑒_𝑖𝑗∈𝐺^∗ do

  Determine 𝑞_𝑗 and 𝑢_𝑗

  Compute 𝜕𝜙^los_𝑖𝑗/𝜕𝑞_𝑖 and 𝜕𝜙^range_𝑖𝑗/𝜕𝑞_𝑖

 end  for

 Compute 𝜕𝜙^𝑖goal/𝜕𝑞_𝑖

 Compute 𝑢^𝛼 via numerical optimization

 if Feasible then

  Move. 𝑡=𝑡+Δ𝑡

 else

  Infeasible. Drop a constraint or terminate.

 end  if

 end  while