The problem of maintaining connectivity in a mobile communication network is considered. The agents consist of two classes: one class of agents, which is termed primary mission agents, performs surveillance operations that may or may not be coordinated efforts. The second class of agents, which is termed relay agents, is controlled to maintain the connectivity. Two control algorithms are proposed to retain the connectivity of the network. Sliding mode observers are employed to predict the trajectories of the primary mission agents, when only their positions are known from blue force messages, and this information is used to construct state dependent graphs encapsulating the measure of connectivity. An optimal model predictive control is employed to develop the control policies for the relay agents to maximize connectivity. Also, the hybrid system approach is used to retain the connectivity of the communication network. The efficacy of the proposed control algorithms is confirmed on a case study of Riverine detection and interdiction operation.