Holistic Connectivity Controller for Multirobot Dispersion

Algorithm 1

Connectivity restoration algorithm (CRA).

Upon Detecting failure of node 𝑗 at time 𝑡, 𝑗_𝑓=𝑗(𝑡⁻)

(1)  For 𝑖∈≺_𝑗(𝑡⁻) at time 𝑡=𝑡⁻

(2) while  ∄𝑘∈𝒱 where 𝑖 ∈≺_𝑘(𝑡⁻₁),𝑡⁻₁≤𝑡⁻   do

(3)  Denote ℎ as the position of 𝑖 in vector ≺_𝑗(𝑡⁻)

(4)  if  ≺_𝑗(𝑡⁻)∪𝒩_𝑙^[𝑖](𝑡⁻)≠(𝒩_𝑙^[𝑖](𝑡⁻),𝑖)

(5)   if  ℎ=1

(6)    𝑖 is the prayer of 𝑗_𝑓, denote 𝑖→𝑗_𝑓, Broadcast 𝑎𝑐𝑘=ℎ

(7)   else hold until time 𝑡=(ℎ−1)Δ𝑇

(8)    if Receive(𝑎𝑐𝑘)=0

(9)     𝑖 is the prayer of 𝑗_𝑓, denote 𝑖→𝑗_𝑓, Broadcast 𝑎𝑐𝑘=ℎ

(10)    end if

(11)   end if

(12)  else

(13)     remove ≺_𝑗(𝑡⁻)

(14)  end if

(15) end while

(16) End

Upon Finishing Connectivity Restoration at time 𝑡=𝑡_𝑓

(17) For  𝑖∈≺_𝑗(𝑡⁻)

(18) if  𝑖→𝑗_𝑓

(19)  Broadcast 𝑆𝑢𝑐(𝑗_𝑓), remove ≺_𝑗(𝑡⁻)

(20) else if Receive(𝑆𝑢𝑐(𝑗_𝑓))=1

(21)  Remove ≺_𝑗(𝑡⁻)

(22) end if

(23)  End