Connected navigation of non-communicating mobile agents

This article discusses the connectivity of autonomous mobile robots that do not have communication capabilities. We show that if the group members follow the proposed Local Steering Strategy, which utilizes information only about the relative positions of neighbor robots, they can sustain their connectivity, even in the case of bounded position measurement errors and the occultation of robots by other robots in the group. To reduce the computational burden in the implementation of the proposed methodology, we used sub-optimal solutions.