Robust Connectivity of Networked Vehicles
Demetri P. Spanos and Richard M. Murray
Submitted, 2004 Conference on Decision and Control (CDC)
We present a simple geometric analysis of wireless
connectivity in vehicle networks. We introduce a localized
notion of connectedness, and construct a function that measures
the robustness of this local connectedness to variations
in position. Under a mild feasibility hypothesis, this function
provides a sufficient condition for global connectedness of
the network. Further, it is distributed, in the sense that
both the function and its gradients can be calculated using
only neighbor-to-neighbor communications. It can thus form
the basis for distributed motion-control algorithms which
respect connectivity constraints. We conclude with two simple
examples of target applications.
Conference Paper
Downloading and printing FAQ
Richard Murray
(murray@cds. caltech.edu)