Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions
Beatrice Capelli Hassan Fouad Giovanni Beltrame Lorenzo Sabattini Beatrice Capelli Hassan Fouad Giovanni Beltrame Lorenzo Sabattini
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must keep the multi-robot system connected independently from the system’s mission and in the presence of undesired real world effects such as communication delays, mod...