Navigation of Non-Communicating Autonomous Mobile Robots With Guaranteed Connectivity

Abstract

We consider the connectivity of autonomous mobile robots. The robots navigate using simple local steering rules without requiring explicit communication among themselves. We show that using only position information of neighbors the group connectivity can be sustained even in the case of bounded position measurement errors and the occlusion of robots by other robots in the group. In implementing the proposed scheme sub-optimal solutions are invoked to avoid an excessive computational burden. We also discuss the possibility of deadlock which may bring the group to a standstill and show that the proposed methodology avoids such a scenario in real-life settings.