Isogonic Formation with Connectivity Preservation for a Team of Holonomic Robots in a Cluttered Environment
Soheil Keshmiri, Shahram Payandeh · 2010
A geometric approach to multi-robots group formation with connectivity preservation(from a graph-theoretic perspective) among group members has been presented. It has been proven that such formation approach would result into a unique shortest connectivity link among group members which would not only guarantee the communication preservation among the robotic agents but also facilitate the message passing and routing among the group members once needed.