Fault-tolerant topology control algorithm for mobile robotic networks

Abstract

In multi-agent systems, it is crucial to maintain a robust and fault-tolerant network topology while minimizes power consumption, especially for the multiple unmanned combat platforms based on mobile robotic networks. This work studies the problem of fault-tolerant topology control in mobile robotic networks. With the aim of constructing self-healing networks, a K-connected topology control algorithm that can cope with faults such as node failures and link disruptions is proposed. The robotic team stays connected in the dynamic interaction topology, even in the face of K-1 nodes departure. Our approach combines power transmission and motion control for constructing a K-connected network topology with approximately minimum power to prolong their working life. Extensive numerical simulations demonstrate the effectiveness of the proposed solution are presented.