Hybrid Control for Connectivity Preserving Flocking

  title={Hybrid Control for Connectivity Preserving Flocking},
  author={Michael M. Zavlanos and Herbert G. Tanner and Ali Jadbabaie and George J. Pappas},
  journal={IEEE Transactions on Automatic Control},
In this technical note, we address the combined problem of motion and network topology control in a group of mobile agents with common objective the flocking behavior of the group. Instead of assuming network connectivity, we enforce it by means of distributed topology control that decides on both deletion and creation of communication links between agents, adapting the network to the group's spatial distribution. With this protocol ensuring network connectivity, a decentralized motion… CONTINUE READING
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Robust connectivity of networked vehicles

  • K. J. Kyriakopoulos
  • Proceedings of IEEE Conference on Decision and…
  • 2006

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