Holistic Connectivity Controller for Multirobot Dispersion

Table 1

Simulation parameters.

Symbol	Quantity	Value
Δ𝑡	Execution time slot	0.01 s
Δ𝑇	Interval of consecutive switches	0.1 s
𝜀	Minimum sensing capability of normalized RSSI	10%
𝜑	Optimized sensing value of normalized RSSI	40%
𝑎0	Restricted radium (reference distance)	2 m
𝛽	Path loss (outdoor, 802.11b)	0.02
𝜌	Exponential gain	0.7
𝐾𝑟	Repulsive potential gain	2500
𝐾𝑎	Attractive potential gain	200
𝐾𝑐	Restoration potential gain	10
𝑢^𝑚(𝑡)	Maximum agent velocity	5 m/s^−1