A Topology Control Method in Mobile Robot Team Based on Formation Maintenance

This paper proposes a topology control method based on formation maintenance and nodes in different groups, which mainly involves issues on the network topology variation caused by the inconsistent velocities of all nodes and communication failure between local nodes and different groups in mobile robot team. It embodies the important role of formation maintenance associated with making groups when topology changes. The simulation result has demonstrated that this method can make effective preservation and restoration on the mobile network communication link.