Distributed network topology control for robotic swarm system: Abandonment approach

Abstract

This paper proposes a distributed network topology control method for a robotic swarm system. The design concept of our method is that the agent preserve its communication links as possible, except cases the link preserving becomes a major restraint. A distributed model predictive consensus control method is proposed for the link preserving, and a link frustration value is defined to make a decision to stop the link preserving. Some computer simulation results show effects of the proposed method.