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In this paper, we consider the dynamic multi-robot distribution problem wherea heterogeneous group of networked robots is tasked to spread out andsimultaneously move towards multiple moving task areas while maintainingconnectivity. The heterogeneity of the system is characterized by variouscategories of units and each robot carries different numbers of units percategory representing heterogeneous capabilities. Every task area withdifferent importance demands a total number of units contributed by all of therobots within its area. Moreover, we assume the importance and the total numberof units requested from each task area is initially unknown. The robots needfirst to explore, i.e., reach those areas, and then be allocated to the tasksso to fulfill the requirements. The multi-robot distribution problem isformulated as designing controllers to distribute the robots that maximize theoverall task fulfillment while minimizing the traveling costs in presence ofconnectivity constraints. We propose a novel connectivity-aware multi-robotredistribution approach that accounts for dynamic task allocation andconnectivity maintenance for a heterogeneous robot team. Such an approach couldgenerate sub-optimal robot controllers so that the amount of total unfulfilledrequirements of the tasks weighted by their importance is minimized and robotsstay connected at all times. Simulation and numerical results are provided todemonstrate the effectiveness of the proposed approaches.

Online Connectivity-aware Dynamic Deployment for Heterogeneous Multi-Robot Systems