Topology Control for Connectivity Maintenance in Cooperative Mobile Robot Networks

In multi-robot systems, communication is a critical factor to perform cooperative tasks. Maintain communication in a multi-robot systems is a complex task that is not feasible in certain conditions because the environmental interference or failures in the communication devices. This paper presents a topology control algorithm for maintaining connectivity in a network with dynamic number of mobile robots, using concepts of graphs theory and consensus. The algorithm and the theoretical basis involved are detailed along the paper and simulations evaluating the effectiveness of this algorithm are proposed at the end.