Decentralized Robust k-connected Network with Unmanned Vehicles Using Vertex Connectivity

A robust network control law considering the failure of unmanned vehicles is proposed. The unmanned vehicles form a network and exchange information with neighbors. If some vehicles fail, the entire network may be disconnected and information cannot be exchanged. Therefore, the robust k-connected network which the network is connected even if less than k unmanned vehicles fail is configured in decentralized system. Each vehicle determines the velocity input according to the partial vertex connectivity which is evaluation of connectivity for each vehicle. Numerical simulations show that the proposed robust network control law is valid.