Linear constraints for ensuring k‐hop connectivity using mixed‐integer programming for multi‐agent systems

Abstract

This note concerns the problem of ‐hop connectivity in a network of mobile agents, which is achieved if any pair of agents can communicate with each other through a link of or fewer intermediate nodes. We propose linear constraints involving binary optimization variables to ensure ‐hop connectivity. Such constraints are then integrated into a mixed‐integer linear programming (MILP) trajectory planning model. Simulation results illustrate the application of the proposed method and the effect of varying in the context of a mission involving the visitation of multiple targets.