Ensuring network connectivity during formation control using a decentralized navigation function

In many applications of formation control, agents coordinate and communicate to make appropriate decisions. Connectivity of the network is paramount in such applications. The goal in this paper is to drive a group of agents with limited sensing capabilities to a desired configuration while ensuring the connectivity of the wireless communication network among the agents. Based on a navigation function formalism, a decentralized cooperative controller is proposed where agent only uses information within its sensing zone to guarantee connectivity maintenance of the network and achieve the desired formation with collision avoidance between themselves and with obstacles in the environment.