Multi-agent formation control with maintaining and controlling network connectivity

Abstract

In this paper, we investigate a target-centric formation controller for multiple unmanned aerial vehicles (UAVs), and explore its ability to maintain as well as to control network connectivity. Desired formations and connectivities of multi-agent system are achieved using a distributed nonlinear controller. We present a sufficient condition to maintain network connectivity by posing bounds on the controller gains. Moreover, we show how a desired network connectivity profile can be obtained by varying controller gains during dynamics. Simulation results validate the effectiveness of the decentralized formation controller in controlling as well as maintaining connectivity.