Connectivity Maintenance: Global and Optimized approach through Control Barrier Functions
Beatrice Capelli,Lorenzo Sabattini,Beatrice Capelli,Lorenzo Sabattini
Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common objective. Connectivity must be kept regardless of the control strategy or the objective of the multi-robot system. Two main methods exist for connectivity maintenance: keep the initial connections (local connectivity) o...
