Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance


These videos show the potentiality of a new decentralized control that ensures the maintenance of a novel concept of connectivity. The generalized connectivity concept is able to embed several constraints, such as obstacle and inter-robot collision avoidance, limited visibility, limited range, and many other both local and global group objectives.

See [1],[2] for more information about the method.

See also the Connectivity maintenance for an overview on the topic.