Behavior control for the swarm robots with network connectivity

In swarm robot systems, it is very important to maintain the network connectivity for cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robot by search-robot, base-robot, and relay-robot. Using these robots, we propose behavior control algorithm for maintaining network connectivity. The behavior control algorithm for maintaining network connectivity are proposed the local path planning using the virtual force and the global path planning using the Delaunay triangulation, respectively. Finally, we show the effectiveness and applicability of the proposed method through some simulations.