Distributed Connectivity Maximization for Networked Mobile Robots with Collision Avoidance

Abstract

For networked mobile robots, it is important to have a good initial configuration before executing given tasks, such as cooperative tracking. In this paper, based on our recent work on the distributed estimation of algebraic connectivity for undirected graphs, we present a novel approach to realize autonomous connectivity maximization for networked mobile robots with collision avoidance. The performance of the presented approach is tested via simulations, which substantiate its effectiveness.