arxivcs.ROeess.SY2026-07-11
From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing
S. Saharsh, Vedhas Talnikar, Pushpak Jagtap
Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper…