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Safe graph rearrangements for distributed connectivity of robotic networks
M. Schuresko, J. Cortés
Proceedings of the IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, pp. 4602-4607

Abstract

This paper studies distributed algorithms for performing graph rearrangements that preserve the connectivity of a robotic network. Given a connected graph describing the topology of the network, preserving a fixed set of edges to maintain connectivity while performing a coordination task often results in suboptimal and over-constrained robot operation. This paper presents a distributed algorithm to perform graph rearrangements that allow the robotic network to transform its interconnection topology between any two trees. We present a method for composing this algorithm with other control algorithms, and make preference guarantees about the choices of links to be preserved under the resulting composition. We use these ideas to propose a distributed formation morphing algorithm, and characterize its time complexity.

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