IROS 2014 Paper

Rajdeep Dutta, Liang Sun, Mangal Kothari, Rajnikant Sharma, Daniel Pack
Publication date
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

Abstract—In this paper, we present a cooperative targetcentric formation control strategy that
maintains the dynamic graph connectivity for a system of unmanned aerial vehicles. The
connectivity of a graph plays a critical role in dynamic networks of multiple agents since it
represents a level of information sharing capability of a system. The connectivity of a network
of unmanned systems changes as the state dependent graph evolves over time, revealing
the risk of the system being uncontrollable during null connectivity.

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