Control of Dynamic Networks

Prior to my work, most techniques preserved all existing edges, which restricts the possible topologies that the network can exhibit in the future. Furthermore, most control laws were based on potential functions which typically resulted in discontinuous control commands when new edges were created.

Heterogenous Mobile Robot Communication Network.

Experimental validation:

We evaluated the influence of the additional connectivity controller on the closed-loop behavior of a team of wheeled mobile robots. For example, we command five mobile robots to move to a location, while a sixth mobile robot has no task assigned to it. Under the influence of the connectivity control, it moves towards the remaining robots only when they begin to move outside of its simulated communication range.