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Journal of Robotics
Volume 2011 (2011), Article ID 571485, 12 pages
Research Article

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

Department of Systems Engineering, United States Naval Academy, Annapolis, MD 21401, USA

Received 31 December 2010; Revised 24 May 2011; Accepted 17 June 2011

Academic Editor: John T. Y. Wen

Copyright © 2011 Joel M. Esposito. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The swarm paradigm of multirobot cooperation relies on a distributed architecture, where each robot makes its own decisions based on locally available knowledge. But occasionally the swarm members may need to share information about their environment or actions through some type of ad hoc communication channel, such as a radio modem, infrared communication, or an optical connection. In all of these cases robust operation is best attained when the transmitter/receiver robot pair is (1) separated by less than some maximum distance (range constraint); and (2) not obstructed by large dense objects (line-of-sight constraint). Therefore to maintain a wireless link between two robots, it is desirable to simultaneously comply with these two spatial constraints. Given a swarm of point robots with specified initial and final configurations and a set of desired communication links consistent with the above criteria, we explore the problem of designing inputs to achieve the final configuration while preserving the desired links for the duration of the motion. Some interesting conclusions about the feasibility of the problem are offered. A potential field-based optimization algorithm is provided, along with a novel composition scheme, and its operation is demonstrated through both simulation and experimentation on a group of small robots.