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

@article{Shetty2021DecentralizedCM,
  title={Decentralized Connectivity Maintenance for Multi-robot Systems Under Motion and Sensing Uncertainties},
  author={Akshay Shetty and Timmy A. Hussain and Grace Gao},
  journal={ArXiv},
  year={2021},
  volume={abs/2110.06342}
}
Communication connectivity is desirable for safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in recent literature, the majority of these works do not account for robot motion and sensing uncertainties. These uncertainties are inherent in practical robots and result in robots deviating from their desired positions which could potentially result in a loss of connectivity. In this paper we present a Decentralized… 

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