On Constructing k-Connected k-Dominating Set in Wireless Networks
IPDPS '05 Proceedings of the 19th IEEE International Parallel and Distributed Processing Symposium (IPDPS'05) - Papers - Volume 01
On constructing k-connected k-dominating set in wireless ad hoc and sensor networks
Journal of Parallel and Distributed Computing - 19th International parallel and distributed processing symposium
Bounded-distance multi-coverage backbones in wireless sensor networks
Proceedings of the 2007 ACM symposium on Applied computing
A new fuzzy-based cooperative movement model in support of qos in wireless ad-hoc network
IWCMC '07 Proceedings of the 2007 international conference on Wireless communications and mobile computing
Multigrid techniques for movement planning in manets with cooperative mobility
IWCMC '07 Proceedings of the 2007 international conference on Wireless communications and mobile computing
Maintaining optimal communication chains in robotic sensor networks using mobility control
Proceedings of the 1st international conference on Robot communication and coordination
Proceedings of the 1st international conference on Robot communication and coordination
Maximizing connected coverage via controlled actor relocation in wireless sensor and actor networks
Computer Networks: The International Journal of Computer and Telecommunications Networking
ICANNGA '07 Proceedings of the 8th international conference on Adaptive and Natural Computing Algorithms, Part II
Proceedings of the 2009 ACM symposium on Applied Computing
Clustering of wireless sensor and actor networks based on sensor distribution and connectivity
Journal of Parallel and Distributed Computing
Proceedings of the 2009 International Conference on Wireless Communications and Mobile Computing: Connecting the World Wirelessly
KEPPAN: Knowledge exploitation for proactively-planned ad-hoc networks
Journal of Network and Computer Applications
Information Sciences: an International Journal
A fully distributed node allocation scheme for partition protection in MANET
WCNC'09 Proceedings of the 2009 IEEE conference on Wireless Communications & Networking Conference
Exploiting information content in relative motion
ACC'09 Proceedings of the 2009 conference on American Control Conference
Making networked robots connectivity-aware
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Maintaining Optimal Communication Chains in Robotic Sensor Networks using Mobility Control
Mobile Networks and Applications
Enforcing Network Connectivity in Robot Team Missions
International Journal of Robotics Research
Recent developments and experimental guidelines in mobile ad-hoc networks
International Journal of Wireless and Mobile Computing
Coverage-aware connectivity restoration in mobile sensor networks
Journal of Network and Computer Applications
Coverage-aware connectivity restoration in mobile sensor networks
ICC'09 Proceedings of the 2009 IEEE international conference on Communications
Robot swarm MANET cooperation based on mobile agent
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
A fully distributed node allocation scheme with partition protection for Mobile Ad Hoc Networks
Computer Communications
Simple movement control algorithm for bi-connectivity in robotic sensor networks
IEEE Journal on Selected Areas in Communications - Special issue on simple wireless sensor networking solutions
Application-centric connectivity restoration algorithm for wireless sensor and actor networks
GPC'11 Proceedings of the 6th international conference on Advances in grid and pervasive computing
Review: From wireless sensor networks towards cyber physical systems
Pervasive and Mobile Computing
Optimizing movement and connectivity in mobile networks with partial cooperativeness
Proceedings of the 9th ACM international symposium on Mobility management and wireless access
The study and implementation of wireless network router NPU-1
ICESS'05 Proceedings of the Second international conference on Embedded Software and Systems
Localized motion-based connectivity restoration algorithms for wireless sensor and actor networks
Journal of Network and Computer Applications
Biconnecting a network of mobile robots using virtual angular forces
Computer Communications
A least-movement topology repair algorithm for partitioned wireless sensor-actor networks
International Journal of Sensor Networks
Adoption of Vehicular Ad Hoc Networking Protocols by Networked Robots
Wireless Personal Communications: An International Journal
Surrendering autonomy: can cooperative mobility help?
Euro-Par'07 Proceedings of the 13th international Euro-Par conference on Parallel Processing
Connectivity restoration in delay-tolerant sensor networks using game theory
International Journal of Ad Hoc and Ubiquitous Computing
Handling large-scale node failures in mobile sensor/robot networks
Journal of Network and Computer Applications
An adaptive connectivity restoration algorithm for wireless sensor and actor networks
International Journal of Autonomous and Adaptive Communications Systems
Application-centric recovery algorithm for wireless sensor and actor networks
International Journal of Communication Networks and Distributed Systems
Computer Networks: The International Journal of Computer and Telecommunications Networking
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Autonomous and semi-autonomous mobile multirobot systems require a wireless communication network in order to communicate with each other and collaboratively accomplish a given task. A multihop communications network that is self-forming, self-healing, and self-organizing is ideally suited for such mobile robot systems that exist in unpredictable and constantly changing environments. However, since every node in a multihop (or ad hoc) network is responsible for forwarding packets to other nodes, the failure of a critical node can result in a network partition. Hence, it is ideal to have an ad hoc network configuration that can tolerate temporary failures while allowing recovery. Since movement of the robot nodes is controllable, it is possible to achieve such fault-tolerant configurations by moving a subset of robots to new locations. In this article we propose a few simple algorithms for achieving the baseline graph theoretic metric of tolerance to node failures, namely, biconnectivity. We formulate an optimization problem for the creation of a movement plan while minimizing the total distance moved by the robots. For one-dimensional networks, we show that the problem of achieving a biconnected network topology can be formulated as a linear program; the latter lends itself to an optimal polynomial time solution. For two-dimensional networks the problem is much harder, and we propose efficient heuristic approaches for achieving biconnectivity. We compare the performance of the proposed algorithms with each other with respect to the total distance moved metric using simulations.