In this paper, we consider the problem of general topology control in multirobot systems with nonholonomic kinematics. Our contribution is twofold: We first demonstrate the correctness of topology control under the assumption that the network topology can switch arbitrarily and that potential-based mobility is discontinuous with respect to topology changes; we then demonstrate that a multirobot team under the above listed conditions continues to achieve topology control when actuator saturation is applied and in the presence of arbitrary discontinuous (and possibly nonpairwise) exogenous objectives. Simulation results are given to corroborate our theoretical findings.
Williams, R.K., Gasparri, A., Ulivi, G., Sukhatme, G.S. (2017). Generalized Topology Control for Nonholonomic Teams With Discontinuous Interactions. IEEE TRANSACTIONS ON ROBOTICS, 33(4), 994-1001 [10.1109/TRO.2017.2683518].