Multi-Robot Communication-Sensitive Reconnaissance

This paper presents a method for multi-robot communication-sensitive reconnaissance. This approach utilizes collections of precompiled vector fields in parallel to coordinate a team of robots in a manner that is responsive to communication failures. Collections of vector fields are organized at the task level for reusability and generality. Different team sizes, scenarios, and task management strategies are investigated. Results indicate an acceptable reduction in communication attenuation when compared to other related methods of navigation. Online management of tasks and potential scalability are discussed