Maintaining connectivity among multiple agents in cyclic pursuit: A geometric approach

Abstract

This paper studies the connectivity maintenance problem in linear and nonlinear cyclic pursuit, when different control gains are assigned to each agent. Feasibility/infeasibility conditions for this problem are established in both the linear and nonlinear scenarios using geometric arguments. These conditions elucidate the role played by the control gains, initial conditions and communication radius of the agents, on the connectivity of the robotic network.