Distributed Self-Healing for Mobile Robot Networks with Multiple Robot Failures

In the multi-robot applications, the maintained and desired network may be destroyed by failed robots. The existing self-healing algorithms only handle with the case of single robot failure, however, multiple robot failures may cause several challenges, such as disconnected network and conflicts among repair paths. This paper presents a distributed self-healing algorithm based on 2-hop neighbor infomation to resolve the problems caused by multiple robot failures. Simulations and experiment show that the proposed algorithm manages to restore connectivity of the mobile robot network and improves the synchronization of the network globally, which validate the effectiveness of the proposed algorithm in resolving multiple robot failures.