Preserving Multirobot Connectivity in Rendezvous Tasks in the Presence of Obstacles With Bounded Control Input

Abstract

Maintaining the connectivity of an underlying robot network during a rendezvous task in the presence of obstacles is a challenge in control systems technology. In this brief, a navigation-function-based potential field approach is developed to address this challenging problem. A concept called connectivity constraint is used to establish a navigation function. A new potential field that simultaneously integrates rendezvous requirement, connectivity maintenance, and obstacle avoidance is also developed. On the basis of this potential field, we design a bounded control input for multirobot control. The proposed controller can drive multiple robots to an agreement state while maintaining connectivity of the underlying network provided that the initial configurations of the robots are connected. Simulations and experiments are performed to verify the effectiveness of the proposed approach.