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Linear constraints for ensuring k-hop connectivity using mixed-integer programming for multi-agent systems

delete2023-10-09
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OA
AI
R
Rubens J. M. Afonso *
R
Roberto Kawakami Harrop Galvão
G
Gabriel A. Souza
M
Marcos R. O. A. Máximo
A
Angelo Caregnato‐Neto
DOI：10.1002/rnc.7012delete
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Abstract

Abstract

En 中文
This note concerns the problem of k-hop connectivity in a network of mobile agents, which is achieved if any pair of agents can communicate with each other through a link of k-1 or fewer intermediate nodes. We propose linear constraints involving binary optimization variables to ensure k-hop connectivity. Such constraints are then integrated into a mixed-integer linear programming (MILP) trajectory planning model. Simulation results illustrate the application of the proposed method and the effect of varying k in the context of a mission involving the visitation of multiple targets.
Keywords:
connectivity
cooperative multiple agents
hops
mixed-integer linear programming

Journal

International Journal of Robust and Nonlinear Control cover
International Journal of Robust and Nonlinear Control
IF:
3.2
Papers:
6.9K
Citations:
1.4W

Organization

No organization information available