We discuss a specific circumstance in which the topology of the communication network of a robotic swarm has to change during the movement. The variation is caused by a topological obstruction which emerges from certain geometric restrictions on both the environment and the swarm.
@article{arxiv.2208.14028,
title = {A Bubble-breaking Phenomenon in the Variation of a Swarm Communication Network},
author = {Bohuan Lin and Jian Gao},
journal= {arXiv preprint arXiv:2208.14028},
year = {2022}
}