Distributed Connectivity Maintenance in Multi-Agent Systems with Field of View Interactions
Matteo Santilli, Pratik Mukherjee, Andrea Gasparri, Ryan K. Williams · 2019
In this paper, we consider the problem of coordinating a multi-agent team to maintain a connected topology while equipped with limited field of view sensors. Applying the potential-based control framework and assuming agent interaction is encoded by a triangular geometry, we derive a distributed control law based on two non-linear functions, the point-to-line distance and the multivariate Gaussian, in order to achieve the topology control objective. Furthermore, we demonstrate a condition on digraphs for which the proposed control strategy achieves the system objective. Finally, numerical simulations are provided to corroborate the theoretical findings.