A line of sight constraint based on intermediary points for connectivity maintenance of multiagent systems using mixed-Integer programming

This paper introduces a novel line of sight constraint for mixed-integer programming models based on intermediary points. Its effectiveness is evaluated in the context of a receding horizon trajectory planning problem for a multiagent system, in which connectivity of the communication network must be maintained. The proposed constraint is shown to provide better results in terms of overall conservatism when compared to an earlier approach. Simulations further illustrate our findings.