Autori
Andrea Gasparri, Leccese Antonio, Sabattini Lorenzo and Giovanni Ulivi
Abstract
In this work, we address the connectivity mainte- nance problem for a multi-robot system which moves according to a given bounded collective control objective. We assume that the interaction among the robotic units is limited by a given visibility radius both in terms of sensing and communication capabilities. For this scenario, we propose a decentralized bounded control law which can provably preserve the connectivity of the multi-robot system over time. We characterize the effect of the connectivity control term on the achievement of the collective control objective by resorting to an Input-to-State Stability (ISS)-like analysis.
