Flocking Towards a Robust Mobile Network Topology

This paper proposes methods to improve the topology robustness and connection robustness against jittering from both mobile bases and network users of mobile networks in a 2D space under limited sensing ranges. The control strategy is assumed to be asynchronous due to the unsynchronized dynamics of the mobile bases and the users in the network. The conditions are derived based on redefined connection based on enclosed areas to maintain the current network topology, and two methods are designed to ensure that the conditions are satisfied in the course of improving topology and connection robustness. Then, a combined method is devised, and the sufficient condition is presented such that the network topology remain intact. Finally, numerical examples are presented to test the performance of the proposed techniques.