Uncooperative multi-agent communication network control, hybrid LQ approach

Retaining connectivity of a mesh network of noncooperative multiple mobile agents is considered. The new connectability theory is applied to preserving network connectivity of non-cooperative mobile wireless networks. The newly introduced connectability matrix allows detecting a loss of network connectivity, as well as determining which nodes are isolated. The hybrid system techniques are used to describe the network dynamics, and LQR is used to control the motion of the relay agents in the communication network with changing dimension. A numerical example demonstrates the efficacy of the proposed techniques.