Abstract
Network topology plays a critical role in enabling a multi-agent system to adapt to environment changes and achieve desired objectives. This paper presents distributed topology manipulation schemes for a group of mobile agents. The agents have limited heterogeneous communication ranges, and connections among them are directional. The topology is established from the overlapping communication ranges. The admissible space is partitioned into enclosed areas by connectivity among the agents based on their communication ranges. Each agent occupies an enclosed area, and its decision-making manipulates the topology by guiding itself to an adjacent enclosed area. Both independent and coordinated decision-making approaches are provided. A guidance algorithm is designed to drive the vehicles to a flexible formation, in which the robustness of the network topology is enhanced.
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