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These sensors have become essential tools for enhancing communication and connectivity in MAS, but their geometric constraints pose unique challenges when designing controllers. Our approach, grounded in geometric principles, leverages a mathematical model of directional visual sensors and employs a gradient-descent optimization method to determine the position and orientation constraints for each sensor based on its geometric configuration. This methodology ensures network connectivity, provided that initial geometric constraints are met. Experimental results validate the efficacy of our approach, highlighting its practical applicability for a range of tasks within MAS. <\/jats:p>","DOI":"10.1142\/s2301385024410097","type":"journal-article","created":{"date-parts":[[2023,11,30]],"date-time":"2023-11-30T10:29:31Z","timestamp":1701340171000},"page":"261-275","source":"Crossref","is-referenced-by-count":0,"title":["A Geometry-Based Distributed Connectivity Maintenance Algorithm for Discrete-time Multi-Agent Systems with Visual Sensing Constraints"],"prefix":"10.1142","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2349-6905","authenticated-orcid":false,"given":"Xiaoli","family":"Li","sequence":"first","affiliation":[{"name":"School of Information Science and Technology, Donghua University, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-5572-6552","authenticated-orcid":false,"given":"Jinyun","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Information Science and Technology, Donghua University, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8567-2169","authenticated-orcid":false,"given":"Mingliang","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Electrical, Mechanical and Infrastructure Engineering, The University of Melbourne, VIC 3010, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4320-0064","authenticated-orcid":false,"given":"Yangmengfei","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Electrical, Mechanical and Infrastructure Engineering, The University of Melbourne, VIC 3010, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8495-0246","authenticated-orcid":false,"given":"Ying","family":"Tan","sequence":"additional","affiliation":[{"name":"School of Electrical, Mechanical and Infrastructure Engineering, The University of Melbourne, VIC 3010, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-3838-5131","authenticated-orcid":false,"given":"Yangbin","family":"Xin","sequence":"additional","affiliation":[{"name":"School of Information Science and Technology, Donghua University, P.\u00a0R.\u00a0China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5924-0859","authenticated-orcid":false,"given":"Ye","family":"Pu","sequence":"additional","affiliation":[{"name":"School of Electrical, Mechanical and Infrastructure Engineering, The University of Melbourne, VIC 3010, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2680-6489","authenticated-orcid":false,"given":"Denny","family":"Oetomo","sequence":"additional","affiliation":[{"name":"School of Electrical, Mechanical and Infrastructure Engineering, The University of Melbourne, VIC 3010, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2024,1,8]]},"reference":[{"key":"S2301385024410097BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2008.2010897"},{"key":"S2301385024410097BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2015.2468991"},{"key":"S2301385024410097BIB003","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.75.1226"},{"volume-title":"Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles","year":"2009","author":"Qu Z.","key":"S2301385024410097BIB004"},{"key":"S2301385024410097BIB005","first-page":"207","volume-title":"Int. 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