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Decentralized Formation Control and Connectivity Maintenance of Multi-Agent Systems using Navigation Functions

In this paper we consider a team of mobile robots (agents), with limited sensing capabilities, that are tasked with forming a pre-specified assembly in a cluttered environment occupied with several obstacles. The goal is to design decentralized navigation functions which can navigate the robots to a set that contains the desired assembly (formation) while avoiding collisions. We prove the convergence of our proposed navigation function framework using a hybrid system approach. We also show that the proposed framework can preserve the connectivity of the underlying sensing graph. Finally, our simulation results show the performance of the proposed framework.