In this article, we consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a one-dimensional cycle graph that is traversed by the communicating robots, and we discuss intermittent communication strategies so that each task location is periodically visited, with a worst-case revisiting time. Robots move forward and backward along the cycle graph, exchanging data with their previous and next neighbors when they meet, and updating their region boundaries. Asymptotically, each robot is in charge of a region of the cycle graph, depending on its capabilities. The method is distributed, and robots only exchange data when they meet.

中文翻译：

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异构机器人的间歇性连接维护

在本文中，我们考虑了协作任务服务的场景，该团队由一组具有不同最大速度和通信半径的异构机器人组成，负责保持网络间歇性连接。我们将任务位置抽象为通信机器人所遍历的一维循环图，并讨论了间歇性通信策略，以便定期访问每个任务位置，并在最坏的情况下重新访问。机器人沿着循环图前进和后退，在遇到机器人时与它们的前一个和下一个邻居交换数据，并更新其区域边界。渐近地，每个机器人根据其能力来负责周期图的一个区域。该方法是分布式的，并且仅当机器人见面时才交换数据。