Conference Proceedings

Ensuring communication connectivity in multi-agent systems in the presence of uncooperative clients

Z Ju, I Shames, D Nešić

2016 IEEE 55th Conference on Decision and Control (CDC) | IEEE | Published : 2016


In this work, the problem of maintaining and guaranteeing communication connectivity between a pair of 'client' agents via controlling a number of 'router' agents is considered. It is assumed that agents satisfy quadrotor dynamics. A set of controllers are proposed and it is shown that these controllers solve the problem exponentially fast under a set of mild assumptions. The simulation results illustrate the effectiveness of the proposed controllers.