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AUTOMATICA
2010

Sufficient conditions for connectivity maintenance and rendezvous in leader-follower networks

9 years 12 months ago
Sufficient conditions for connectivity maintenance and rendezvous in leader-follower networks
In this paper we derive a set of constraints that are sufficient to guarantee maintained connectivity in a leader-follower multiagent network with proximity based communication topology. In the scenario we consider, only the leaders are aware of the global mission, which is to converge to a known destination point. Thus, the followers need to stay in contact with the group of leaders in order to reach the goal. In the paper we show that we can maintain the initial network structure, and thereby connectivity, by setting up bounds on the ratio of leaders-to-followers and on the magnitude of the goal attraction force experienced by the leaders. The results are first established for an initially complete communication graph and then extended to an incomplete graph. The results are illustrated by computer simulations.
Tove Gustavi, Dimos V. Dimarogonas, Magnus Egerste
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2010
Where AUTOMATICA
Authors Tove Gustavi, Dimos V. Dimarogonas, Magnus Egerstedt, Xiaoming Hu
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