Skip to main content
Controlling Connectivity of Dynamic Graphs
Lab Papers (GRASP)
  • Michael M Zavlanos, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
Document Type
Conference Paper
Date of this Version
Suggested Citation:
Zavlanos, M. and G.J. Pappas. (2005). Controlling Connectivity of Dynamic Graphs. Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference 2005. Seville, Spain. December 12-15, 2005.

©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

The control of mobile networks of multiple agents raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In this paper, we consider the problem of controlling a network of agents so that the resulting motion always preserves various connectivity properties. In particular, we consider preserving k-hop connectivity, where agents are allowed to move while maintaining connections to agents that are no more than k-hops away. The connectivity constraint is translated to constrains on individual agent motion by considering the dynamics of the adjacency matrix and related constructs from algebraic graph theory. As special cases, we obtain motion constraints that can preserve the exact structure of the initial dynamic graph, or may simply preserve the usual notion connectivity while the structure of the graph changes over time. We conclude by illustrating various interesting problems that can be achieved while preserving connectivity constraints.

Citation Information
Michael M Zavlanos and George J Pappas. "Controlling Connectivity of Dynamic Graphs" (2005)
Available at: