Adaptive mechanisms for vulnerability detection and management in mobile multi-robot systems

Abstract

Many complex networks concepts related to topological network features are applicable to communication, monitoring, traffic and transportation applications. Regardless the context, the efficiency of the computational systems that support these applications is challenging due to the inherent uncertainty, unpredictability and complexity of the environments in which they operate. In this sense, approaches aiming at maintaining network connectivity are required. However, connectivity maintenance, per se, is not a guarantee of robustness to node failures, especially when high centrality nodes fail. The robustness to failures means that, although some elements fail or become disconnected from the network, the dynamic and the main topological properties are maintained. On the other hand, maintaining the network connectivity supports fault tolerance mechanisms based on local communications to operate properly. The goal of this research activity is to extend the adaptive mechanisms for failure tolerance that have been the subject of the postdoctoral project to the context of ad hoc mobile networks of robotic agents running over a protocol that ensures network connectivity, thus contributing towards more robust mobile robot network models. (AU)