Behavior-based connectivity control for robot networks

Abstract

Introduction. In this article, we address the problem
\nin which a Multi-robot System (MRS), conforming a
\nMobile Ad-hoc Network (MANET), has to reach a
\ngiven goal while maintaining a connected topology
\nwith a fixed Base Station (BS). Objective. To design
\na connectivity control reactive algorithm for a MRS
\nin a goal seek mission. Materials and Methods.
\nBased in the work proposed in (Antonelli, Arrichiello,
\nChiaverini, & Setola, 2006), an algorithm is proposed
\nthat incorporates a Depth First Search (DSF) and
\nimplements a set of behavior-based task functions.
\nMoreover, robots can take the role of explorers or
\nrelays. Results. The algorithm is validated through
\ncomputer simulations in a scenario like the one found
\nin (Antonelli, Arrichiello, Chiaverini, & Setola, 2006),
\nbut varying the position of the goal. Results show the
\naffectivity of the proposed algorithm. Conclusions.
\nImprovements included in the proposed algorithm
\nprovide better flexibility and robustness by allowing
\nthe robots to take different roles. Furthermore, the
\nMRS connectivity is maintained even if the goal is
\nfarther than the distance it can reach.