Biconnectivity Preservation Control for Multi-Robot Network using Perturbed Graph Laplacian

Abstract

Each robots in a multi-robot system has to preserve the connectivity of the communication network structure for accomplishments of their tasks, under a risk of robot failures. This paper addresses the problem and proposes a distributed control law to solve the problem using an eigenvalue of a perturbed laplacian matrix. The definition of the perturbed laplacian, the control methodology, and some simulation results are detailed in the context.