Authors: G. Rodrigues de Campos, D. V. Dimarogonas, A. Seuret and Karl H.  Johansson, 

Journal: IMA Journal of Mathematical Control and Information, 2017

Abstract: This article proposes a distributed algorithm for the compact deployment of robots, using both distance- and angular-based arguments in the controllers’ design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph’s connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.