2023
A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms
Karthik Soma, Koresh Khateri, Mahdi Pourgholi, Mohsen Montazeri, Lorenzo Sabattini, Giovanni Beltrame
ICRA 2023poster
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a swarm topology. The set is complete in the sense that any ot…