When good communication go bad: communications recovery for multi-robot teams

Ad-hoc networks among groups of autonomous mobile robots are becoming a common occurrence as teams of robots take on increasingly complicated missions over wider areas. Research has often focused on proactive means in which the individual robots of the team may prevent communication failures between nodes in this network. This is not always possible especially in unknown or hostile environments. This research addresses reactive aspects of communication recovery. How should the members of the team react in the event of unseen communication failures between some or all of the nodes in the network? We present a number of behaviors to be utilized in the event of communications failure as well as a behavioral sequencer to further enhance the effectiveness of these recovery behaviors. The performance of the communication recovery behavior is analyzed in simulation and their application on hardware platforms is discussed.