Decentralized Connectivity Maintenance for Multi-Agent Systems Using Control Barrier Functions

This paper proposes a decentralized control barrier function (CBF) as a solution for distributed global connectivity maintenance for a multi-agent system (MAS). Using a combination of Fiedler value estimation (the second smallest eigenvalue of the Laplacian) and control barrier functions, the proposed method can ensure that agents will remain globally connected in a distributed fashion. The major advantage of using CBF is that it allows us to consider multiple objectives and constraints at the same time. Moreover, it enables the agent connectivity to be increased to a desired level. Mathematical analysis and simulation results demonstrate the efficacy of the approach.