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To perform cooperative tasks in a decentralized manner, multi-robot systemsare often required to communicate with each other. Therefore, maintaining thecommunication graph connectivity is a fundamental issue when roaming aterritory with obstacles. However, when dealing with real-robot systems,several sources of data corruption can appear in the agent interaction. In thispaper, the effects of failure and noise in the communication between agents areanalyzed upon a connectivity maintenance control strategy. The results showthat the connectivity strategy is resilient to the negative effects of suchdisturbances under realistic settings that consider a bandwidth limit for thecontrol effort. This opens the perspective of applying the connectivitymaintenance strategy in adaptive schemes that consider, for instance,autonomous adaptation to constraints other than connectivity itself, e.g.communication efficiency and energy harvesting.

Analysis of the Effects of Failure and Noise in the Distributed Connectivity Maintenance of a Multi-robot System