Holistic Connectivity Controller for Multirobot Dispersion

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="630175.fig.009a" src="https://static.hindawi.com/articles/mpe/volume-2013/630175/figures/630175.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b> Average communication links</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="630175.fig.009b" src="https://static.hindawi.com/articles/mpe/volume-2013/630175/figures/630175.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Robots’ velocity in <i>X</i> axis</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="630175.fig.009c" src="https://static.hindawi.com/articles/mpe/volume-2013/630175/figures/630175.fig.009c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Robots’ velocity in <i>Y</i> axis </td></tr></table></td></tr></table>

<table>Average communication links and robots’ velocities during dispersion.</table>

Mathematical Problems in Engineering

Holistic Connectivity Controller for Multirobot Dispersion

Figure 9