Bi-connectivity Improvement and Preservation for Multi-robot Network Using Perturbed Algebraic Connectivity

In this paper we propose a distributed control law for networked multi-robot systems to preserve and improve bi-connectedness of the communication network. A bi-connected network is a robust topology against single robot failure, since the network has no articulation nodes. Using a theoretical fact that a modified algebraic connectivity is related to the bi-connectedness, we analyze a sufficient condition such that the network bi-connectivity is improved. The preservation and improvement control laws are designed to satisfy that condition. Numerical simulations are demonstrated to show validity of the proposed control.