From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing

arXiv:2607.10170v1 Announce Type: new Abstract: Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph, where communication links are established or broken according to limi...