An Optimized Coordination Approach for Multi-robot Systems Considering Connectivity Maintenance

Robots, especially multi-robot systems have received much attention since broad applications in various fields. In this paper, we focus on coordination problem of multi-robot systems considering connection maintenance with a base station. We design a role-based state machine with topology reconfiguration mechanism to coordinate behaviors of robots. This approach can successfully solve the problem in an autonomous manner. The performance on effectiveness and efficiency is verified and analyzed through a series of simulations.