Departmental Papers (ESE)


The control of mobile networks of multiple agents raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In this paper, we consider the problem of controlling a network of agents so that the resulting motion always preserves the connectivity property of the network. In particular, the connectivity condition is translated to differentiable constraints on individual agent motion by considering the dynamics of the Laplacian matrix and its spectral properties. Artificial potential fields are then used to drive the agents to configurations away from the undesired space of disconnected networks while avoiding collisions with each other. We conclude by illustrating a class of interesting problems that can be achieved while preserving connectivity constraints.

Document Type

Journal Article

Subject Area


Date of this Version

August 2007


Copyright 2007 IEEE. Reprinted from IEEE Transactions on Robotics, Volume 23, Issue 4, August 2007, pages 812-816.

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dynamic graphs, graph connectivity, laplacian matrix, potential fields.



Date Posted: 26 September 2007

This document has been peer reviewed.