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

<table>The basic problem considered in this paper. Design a control law to guide the swarm from the initial position, <svg height="14.0625" id="M32" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 13.5375 14.0625" width="13.5375" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,14.0625)">
<g transform="translate(72,-60.75)">
<text transform="matrix(1,0,0,-1,-71.95,63.09)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑞</tspan>
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<text transform="matrix(1,0,0,-1,-65.72,68.09)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑜</tspan>
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</svg>, to the desired final position, <svg height="16.549999" id="M33" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 15.9125 16.549999" width="15.9125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,16.55)">
<g transform="translate(72,-58.76)">
<text transform="matrix(1,0,0,-1,-71.95,61.1)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑞</tspan>
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<text transform="matrix(1,0,0,-1,-65.72,66.1)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑓</tspan>
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</svg>, while maintaining desired communication links (range plus line of sight).</table>

Journal of Robotics

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Figure 1

Figure 1: Maintaining Wireless Connectivity Constraints for Robot Swarms in the Presence of Obstacles 