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A decentralized switched controller is developed for dynamic agents toperform global formation configuration convergence while maintaining networkconnectivity and avoiding collision within agents and between stationaryobstacles, using only local feedback under limited and intermittent sensing.Due to the intermittent sensing, constant position feedback may not beavailable for agents all the time. Intermittent sensing can also lead to adisconnected network or collisions between agents. Using a navigation functionframework, a decentralized switched controller is developed to navigate theagents to the desired positions while ensuring network maintenance andcollision avoidance.

Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing