A Lyapunov-based gain-updating law preserves initial tree connectivity in delay-free swarms and is robustified against time-varying delays while establishing input-to-state stability.
Bilateral con- trol of the degree of connectivity in multiple mobile-robot teleoperation
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Connectivity-Preserving Swarm Teleoperation Over A Tree Network With Time-Varying Delays
A Lyapunov-based gain-updating law preserves initial tree connectivity in delay-free swarms and is robustified against time-varying delays while establishing input-to-state stability.