Decentralized connectivity and user localization via wireless robotic networks

In this paper we investigate a problem concerning wireless communication in multi agent systems. We create a mesh of mobile routers that move in a decentralized fashion (swarming) in a two-dimensional space in search of a moving target while maintaining communication connectivity constraints. The motion of the robots is dictated by: (i) a spring-mass interaction and, (ii) potential field forces. When the communication field of a target is detected we estimate its location and create an attractive potential centered in its position. Simulation results validate the applicability of the proposed framework. By using four ground vehicles and ZigBee nodes we present also an experiment implemented in a fully decentralized fashion.