Decentralized Connectivity Maintenance for Multi-Robot Systems Under Motion and Sensing Uncertainties

Abstract Communication connectivity is desirable for the safe and efficient operation of multi-robot systems. While decentralized algorithms maintenance have been explored in recent literature, majority these works do not account robot motion sensing uncertainties. These uncertainties are inherent practical robots result deviating from their desired positions which could potentially a loss connectivity. In this paper, we present algorithm accounting (DCMU). We, first, propose novel weighted graph definition system that accounts aforementioned along with realistic constraints such as line-of-sight collision avoidance. then, design gradient-based controller derive gradients edge weights required computing control. Finally, perform multiple simulations to validate performance our DCMU under uncertainties, showing an improvement compared previous work.