A mobile robot network is said to be easily scalable to any number of robots if its performance is kept almost fixed after these robots are added or some fail in the network. An interaction dynamics model based on motion synchronization is first established. Considering the mobility of mobile robot networks, we propose a relay switched, distributed topology control for the scalable network to drive neMy added robots to the most suitable positions with more neighbors as well as self-heal the blank positions of failed robots, and give a metric of the topology structure for evaluating the performance of network topologies. Then, we prove the stability of motion synchronization with the individual control based on Lyapunov exponent. Finally, the results of simulations have demonstrated the validity of the proposed modeling and control methods.
