Ensuring communication connectivity in multi-agent systems in the presence of uncooperative clients
Zhiyang Ju, Iman Shames, Dragan Nešić · 2016
In this work, the problem of maintaining and guaranteeing communication connectivity between a pair of “client” agents via controlling a number of “router” agents is considered. It is assumed that agents satisfy quadrotor dynamics. A set of controllers are proposed and it is shown that these controllers solve the problem exponentially fast under a set of mild assumptions. The simulation results illustrate the effectiveness of the proposed controllers.