Communication-Constrained Cooperative Motion Planning for Dubins Formation Turning

This paper investigates cooperative motion planning for communication-constrained formation turning of Dubins vehicles. The vehicles move at constant speed and are subject to sector-limited communication constraints. To ensure connectivity during large-angle maneuvers, a structured cooperative turning strategy is developed. The overall heading change is decomposed into repetitive minimal turning units, each consisting of equivalent approach, steering, retreat, and steering phases. By properly selecting adjustable parameters, the relative distance between neighboring vehicles first decreases and then returns to the desired formation spacing, while the relative bearing remains within the communication sector. Consequently, formation connectivity is preserved throughout the maneuver provided that the communication range exceeds the nominal spacing. Simulation results validate the effectiveness of the proposed cooperative motion planning strategy.