On preserving connectivity of autonomous mobile robots
Ahmet Cezayirli, Feza Kerestecioğlu · 2009
The connectivity of the autonomous mobile robots is considered in this paper. The group navigation is provided using simple local steering rules and without any explicit communication. Sub-optimal solutions are invoked to avoid computational cost. We show that the connectivity of the group is preserved during the whole motion, in spite of bounded measurement errors on angles and distances. Some special cases of group topology are also discussed.