A Bubble-breaking Phenomenon in the Variation of a Swarm Communication Network

TL;DR

This paper investigates a phenomenon where the topology of a robotic swarm's communication network must change due to environmental and geometric constraints, highlighting a bubble-breaking event during movement.

Contribution

It introduces the concept of a bubble-breaking phenomenon in swarm communication networks caused by topological obstructions, advancing understanding of dynamic network topology changes.

Findings

Identification of conditions leading to bubble-breaking events

Analysis of how environmental restrictions influence network topology

Insights into maintaining connectivity during swarm movement

Abstract

We discuss a specific circumstance in which the topology of the communication network of a robotic swarm has to change during the movement. The variation is caused by a topological obstruction which emerges from certain geometric restrictions on both the environment and the swarm.