Swarming of mobile router networks

A decentralized method for mobile router net works is proposed in this paper. A group of mobile routers moves in a cluttered environment maintaining connectivity between a base station and multiple exploring users. The network is seen as a switched system in which virtual spring mass interactions create and destroy the links between agents. We prove static (i.e., fixed graph topology) and dynamic (i.e., switching graph topology) stability using Lyapunov theory. To demonstrate the applicability of this method, we offer simulations for a self-healing case and for a non-isotropic environment.