Distributed Connectivity Service for Mobile Ad-Hoc Networks

This website is to serves as a repository of videos of the Intersecting Disks Connectivity Service. These videos show the results of running the algorithm under different initial and target configurations with using different velocity constraints. Please refer to the paper for information, as you will only find videos here.

Designing robust algorithms for mobile agents with reliable communication is difficult due to the distributed nature, in ad hoc networks this issue is further complicated by the need to ensure connectivity. Hence, existing motion-planning algorithms provide coordination but typically don’t guarantee connectivity.

We present an abstraction layer that modifies an existing plan while ensuring connectivity (the graph of agents remains connected) and progress (the agents advance towards their goal), without making any assumptions of the motion-planning algorithm. We present a local, self-stabilizing distributed algorithm that implements this abstraction.

Random (LMST Filtering)

Connected random initial configuration. Targets initialized randomly 6 radii away from initial position, collection of target positions is disconnected and therefore unreachable.