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This paper focuses on the broadcast of information on robot networks withstochastic network interconnection topologies. Problematic communicationnetworks are almost unavoidable in areas where we wish to deploy multi-roboticsystems, usually due to a lack of environmental consistency, accessibility, andstructure. We tackle this problem by modeling the broadcast of information in amulti-robot communication network as a stochastic process with random arrivaltimes, which can be produced by irregular robot movements, wirelessattenuation, and other environmental factors. Using this model, we provide andanalyze a receding horizon control strategy to control the statistics of theinformation broadcast. The resulting strategy compels the robots to re-directtheir communication resources to different neighbors according to the currentpropagation process to fulfill global broadcast requirements. Based on thismethod, we provide an approach to compute the expected time to broadcast themessage to all nodes. Numerical examples are provided to illustrate theresults.

Receding Horizon Control on the Broadcast of Information in Stochastic Networks