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Linear constraints for ensuring k -hop connectivity using Mixed-Integer Programming for Multi-Agent Systems
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  • Rubens Afonso,
  • Roberto Galvao,
  • Gabriel Souza A,
  • Marcos Maximo,
  • Angelo Caregnato-Neto
Rubens Afonso
Instituto Tecnologico de Aeronautica

Corresponding Author:rubensjm@ita.br

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Roberto Galvao
Instituto Tecnologico de Aeronautica
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Gabriel Souza A
Instituto Tecnologico de Aeronautica
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Marcos Maximo
Instituto Tecnologico de Aeronautica
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Angelo Caregnato-Neto
Instituto Tecnologico de Aeronautica
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Abstract

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.
08 Feb 2023Submitted to International Journal of Robust and Nonlinear Control
08 Feb 2023Submission Checks Completed
08 Feb 2023Assigned to Editor
08 Feb 2023Review(s) Completed, Editorial Evaluation Pending
10 Feb 2023Reviewer(s) Assigned
23 Apr 2023Editorial Decision: Revise Minor
22 Jul 20231st Revision Received
31 Jul 2023Submission Checks Completed
31 Jul 2023Assigned to Editor
31 Jul 2023Review(s) Completed, Editorial Evaluation Pending
06 Aug 2023Reviewer(s) Assigned
17 Sep 2023Editorial Decision: Accept