129861 20240112163659.0 doi 10.1109/TRO.2020.3014521 sideral 121414 ART-2020-121414 eng Aragüés Muñoz, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 Intermittent connectivity maintenance with heterogeneous robots 2020 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. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/DGA/T45-17R info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00 info:eu-repo/grantAgreement/ES/MICINN/CAS18-00082 info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 5.567 2020 ROBOTICS 4 / 28 = 0.143 2020 Q1 T1 2.027 2020 Computer Science Applications 2020 Q1 Electrical and Electronic Engineering 2020 Q1 Control and Systems Engineering 2020 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Dimarogonas, Dimos V. Guallar, Pablo Sagüés Blázquiz, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 37, 1 (2020), 225-245 IEEE Trans. Robot. IEEE Transactions on Robotics 1552-3098 2045282 http://zaguan.unizar.es/record/129861/files/texto_completo.pdf Postprint 3793022 http://zaguan.unizar.es/record/129861/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:129861 articulos driver 2024-01-12-14:08:54 ARTICLE