Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions
Beatrice Capelli,Hassan Fouad,Giovanni Beltrame,Lorenzo Sabattini,Beatrice Capelli,Hassan Fouad,Giovanni Beltrame,Lorenzo Sabattini
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must keep the multi-robot system connected independently from the system’s mission and in the presence of undesired real world effects such as communication delays, mod...
