A localized K-connectivity topology control algorithm in multi-agent networks

Multiple autonomous agent systems require wireless communication networks to communicate with each other and collaboratively accomplish a given task. It is critical for multi-agent networks to incorporate the ability to sustain faults since every node in multi-hop network is responsible for forwarding packets to other nodes, the failure of a critical node may result in a network partition. In this work, a localized fault-tolerant topology control algorithm is proposed for dynamic multi-agent networks such that the resultant network topology is K-connectivity. The proposed topology control algorithm constructs fault-tolerant networks by controlling transmit power and movement of nodes. We validate effectiveness of the algorithm through extensive simulations.