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

Figure 5

An illustration of the velocity selection problem for robot 𝑖. 𝑢^𝛼 is the set of all vectors in the same half plane as −𝜕𝜙^𝑖goal/𝜕𝑞_𝑖 (labeled as Goal). Similarly, the range and line of sight constraints define cones in the tangent space. The set of feasible directions lies at the intersection of these sets.