Multi-robot routing under connectivity constraints

This paper addresses the problem of routing multiple range constrained robots to service spatially distributed requests at specified time instants, while ensuring a connected information exchange network at all times. We discuss the feasibility aspects of such a connectivity constrained routing problem. In particular, we derive the minimum number of robots required to service such requests, and we present an algorithm for the explicit construction of the corresponding routes for every robot, with total length traveled as the optimization criterion.