Mathematical Problems in Engineering / 2013 / Article / Alg 1

Research Article

Holistic Connectivity Controller for Multirobot Dispersion

Algorithm 1

Connectivity restoration algorithm (CRA).
Upon Detecting failure of node at time ,
( )  For at time
( ) while   where    do
( )  Denote as the position of in vector
( )  if  
( )   if  
( )     is the prayer of , denote , Broadcast
( )   else hold until time
( )    if Receive( )=0
( )      is the prayer of , denote , Broadcast
( )    end if
( )   end if
( )  else
( )     remove
( )  end if
( ) end while
( ) End
Upon Finishing Connectivity Restoration at time
( ) For  
( ) if  
( )  Broadcast , remove
( ) else if Receive( )=1
( )  Remove
( ) end if
( )  End

Article of the Year Award: Outstanding research contributions of 2020, as selected by our Chief Editors. Read the winning articles.