{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T15:25:02Z","timestamp":1772119502439,"version":"3.50.1"},"reference-count":45,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T00:00:00Z","timestamp":1762387200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T00:00:00Z","timestamp":1762387200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2025,12]]},"DOI":"10.1007\/s10514-025-10224-5","type":"journal-article","created":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T10:35:20Z","timestamp":1762425320000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Fast k-connectivity restoration in multi-robot systems for robust communication maintenance: algorithmic and learning-based solutions"],"prefix":"10.1007","volume":"49","author":[{"given":"Guangyao","family":"Shi","sequence":"first","affiliation":[]},{"given":"Md","family":"Ishat-E-Rabban","sequence":"additional","affiliation":[]},{"given":"Griffin","family":"Bonner","sequence":"additional","affiliation":[]},{"given":"Pratap","family":"Tokekar","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,11,6]]},"reference":[{"issue":"9","key":"10224_CR1","doi-asserted-by":"publisher","first-page":"1366","DOI":"10.1109\/TPDS.2008.246","volume":"20","author":"AA Abbasi","year":"2008","unstructured":"Abbasi, A. A., Younis, M., & Akkaya, K. (2008). Movement-assisted connectivity restoration in wireless sensor and actor networks. IEEE Transactions on Parallel and Distributed Systems, 20(9), 1366\u20131379.","journal-title":"IEEE Transactions on Parallel and Distributed Systems"},{"issue":"3","key":"10224_CR2","doi-asserted-by":"publisher","first-page":"1112","DOI":"10.1109\/TR.2020.2970268","volume":"70","author":"VK Akram","year":"2020","unstructured":"Akram, V. K., Dagdeviren, O., & Tavli, B. (2020). Distributed $$ k $$-Connectivity Restoration for Fault Tolerant Wireless Sensor and Actuator Networks: Algorithm Design and Experimental Evaluations. IEEE Transactions on Reliability, 70(3), 1112\u20131125.","journal-title":"IEEE Transactions on Reliability"},{"issue":"2","key":"10224_CR3","doi-asserted-by":"publisher","first-page":"354","DOI":"10.1007\/s10878-015-9842-5","volume":"32","author":"N Anari","year":"2016","unstructured":"Anari, N., Fazli, M., Ghodsi, M., & Safari, M. (2016). Euclidean movement minimization. Journal of Combinatorial Optimization, 32(2), 354\u2013367.","journal-title":"Journal of Combinatorial Optimization"},{"key":"10224_CR4","doi-asserted-by":"crossref","unstructured":"Atay, N., & Bayazit, B. (2009). Mobile wireless sensor network connectivity repair with k-redundancy. In: Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eight International Workshop on the Algorithmic Foundations of Robotics Springer; pp. 35\u201349.","DOI":"10.1007\/978-3-642-00312-7_3"},{"issue":"4","key":"10224_CR5","doi-asserted-by":"publisher","first-page":"36","DOI":"10.1109\/MNET.2004.1316760","volume":"18","author":"P Basu","year":"2004","unstructured":"Basu, P., & Redi, J. (2004). Movement control algorithms for realization of fault-tolerant ad hoc robot networks. IEEE Network, 18(4), 36\u201344.","journal-title":"IEEE Network"},{"key":"10224_CR6","doi-asserted-by":"crossref","unstructured":"Chen, S., Sun, Y., Li, P., Zhou, L., & Lu, C.T.(2024). Learning Decentralized Flocking Controllers with Spatio-Temporal Graph Neural Network. In: 2024 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2596\u20132602). IEEE.","DOI":"10.1109\/ICRA57147.2024.10610627"},{"key":"10224_CR7","unstructured":"Cornejo, A., & Lynch, N. (2010). Fault-tolerance through k-connectivity. In: Workshop on network science and systems issues in multi-robot autonomy: ICRA, (vol. 2; p. 2010)."},{"issue":"3","key":"10224_CR8","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/1541885.1541891","volume":"5","author":"ED Demaine","year":"2009","unstructured":"Demaine, E. D., Hajiaghayi, M., Mahini, H., Sayedi-Roshkhar, A. S., Oveisgharan, S., & Zadimoghaddam, M. (2009). Minimizing movement. ACM Transactions on Algorithms (TALG), 5(3), 1\u201330.","journal-title":"ACM Transactions on Algorithms (TALG)"},{"key":"10224_CR9","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1609\/icaps.v28i1.13926","volume":"28","author":"K Engin","year":"2018","unstructured":"Engin, K., & Isler, V. (2018). Minimizing movement to establish the connectivity of randomly deployed robots. Proceedings of the International Conference on Automated Planning and Scheduling, 28, 451\u2013458.","journal-title":"Proceedings of the International Conference on Automated Planning and Scheduling"},{"issue":"2","key":"10224_CR10","doi-asserted-by":"publisher","first-page":"667","DOI":"10.1109\/TCNS.2021.3088794","volume":"8","author":"KS Engin","year":"2021","unstructured":"Engin, K. S., & Isler, V. (2021). Establishing fault-tolerant connectivity of mobile robot networks. IEEE Transactions on Control of Network Systems, 8(2), 667\u2013677.","journal-title":"IEEE Transactions on Control of Network Systems"},{"issue":"4","key":"10224_CR11","doi-asserted-by":"publisher","first-page":"1034","DOI":"10.1109\/TSP.2018.2887403","volume":"67","author":"F Gama","year":"2018","unstructured":"Gama, F., Marques, A. G., Leus, G., & Ribeiro, A. (2018). Convolutional neural network architectures for signals supported on graphs. IEEE Transactions on Signal Processing, 67(4), 1034\u20131049.","journal-title":"IEEE Transactions on Signal Processing"},{"key":"10224_CR12","unstructured":"Gurobi Optimization, LLC. Gurobi Optimizer Reference Manual; 2024, https:\/\/www.gurobi.com."},{"key":"10224_CR13","doi-asserted-by":"crossref","unstructured":"Hari, S.K.K, Rathinam, S., Darbha, S., Kalyanam, K., Manyam, S.G., & Casbeer, D. (2019). The generalized persistent monitoring problem. In: 2019 American Control Conference (ACC) (pp. 2783\u20132788). IEEE.","DOI":"10.23919\/ACC.2019.8815211"},{"issue":"6","key":"10224_CR14","doi-asserted-by":"publisher","first-page":"372","DOI":"10.1145\/362248.362272","volume":"16","author":"J Hopcroft","year":"1973","unstructured":"Hopcroft, J., & Tarjan, R. (1973). Algorithm 447: Efficient algorithms for graph manipulation. Communications of the ACM, 16(6), 372\u2013378.","journal-title":"Communications of the ACM"},{"issue":"4","key":"10224_CR15","doi-asserted-by":"publisher","first-page":"894","DOI":"10.1109\/JAS.2019.1911537","volume":"6","author":"L Huang","year":"2019","unstructured":"Huang, L., Zhou, M., Hao, K., & Hou, E. (2019). A survey of multi-robot regular and adversarial patrolling. IEEE\/CAA Journal of Automatica Sinica., 6(4), 894\u2013903.","journal-title":"IEEE\/CAA Journal of Automatica Sinica."},{"key":"10224_CR16","doi-asserted-by":"crossref","unstructured":"Iordache, V., Gheorghiu, R.A., Minea, M., & Cormos, A.C. (2017). Field testing of Bluetooth and ZigBee technologies for vehicle-to-infrastructure applications. In: 2017 13th International Conference on Advanced Technologies, Systems and Services in Telecommunications (TELSIKS) (pp. 248\u2013251). IEEE.","DOI":"10.1109\/TELSKS.2017.8246274"},{"issue":"2","key":"10224_CR17","doi-asserted-by":"publisher","first-page":"3894","DOI":"10.1109\/LRA.2021.3067275","volume":"6","author":"M Ishat-E-Rabban","year":"2021","unstructured":"Ishat-E-Rabban, M., & Tokekar, P. (2021). Failure-resilient coverage maximization with multiple robots. IEEE Robotics and Automation Letters, 6(2), 3894\u20133901.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"1","key":"10224_CR18","doi-asserted-by":"publisher","first-page":"216","DOI":"10.1109\/TNET.2009.2024941","volume":"18","author":"L Jonathan","year":"2010","unstructured":"Jonathan, L., Erik, D., Mohammad, T., & Daniela, R. (2010). Deploying sensor networks with guaranteed fault tolerance. IEEE\/ACM Transaction Network, 18(1), 216\u2013228.","journal-title":"IEEE\/ACM Transaction Network"},{"issue":"1\u20133","key":"10224_CR19","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1016\/S0024-3795(01)00312-3","volume":"341","author":"SJ Kirkland","year":"2002","unstructured":"Kirkland, S. J., Molitierno, J. J., Neumann, M., & Shader, B. L. (2002). On graphs with equal algebraic and vertex connectivity. Linear Algebra and its Applications, 341(1\u20133), 45\u201356.","journal-title":"Linear Algebra and its Applications"},{"key":"10224_CR20","doi-asserted-by":"crossref","unstructured":"Kortvelesy, R., & Prorok, A. (2021). ModGNN: Expert policy approximation in multi-agent systems with a modular graph neural network architecture. In: 2021 IEEE international conference on robotics and automation (ICRA) (pp. 9161\u20139167). IEEE.","DOI":"10.1109\/ICRA48506.2021.9561386"},{"key":"10224_CR21","doi-asserted-by":"crossref","unstructured":"Kuzminykh, I., Snihurov, A., & Carlsson, A. (2017). Testing of communication range in ZigBee technology. In: 2017 14th International Conference The Experience of Designing and Application of CAD Systems in Microelectronics (CADSM) (pp. 133\u2013136). IEEE.","DOI":"10.1109\/CADSM.2017.7916102"},{"key":"10224_CR22","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.adhoc.2014.07.012","volume":"24","author":"S Lee","year":"2015","unstructured":"Lee, S., Younis, M., & Lee, M. (2015). Connectivity restoration in a partitioned wireless sensor network with assured fault tolerance. Ad Hoc Networks, 24, 1\u201319.","journal-title":"Ad Hoc Networks"},{"key":"10224_CR23","doi-asserted-by":"crossref","unstructured":"Li, Q., Gama, F., Ribeiro, A., & Prorok, A. (2020). Graph neural networks for decentralized multi-robot path planning. In: 2020 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 11785\u201311792). IEEE.","DOI":"10.1109\/IROS45743.2020.9341668"},{"key":"10224_CR24","doi-asserted-by":"crossref","unstructured":"Lin, J., Morse, A.S., & Anderson, B.D. (2003). The multi-agent rendezvous problem. In: 42nd IEEE international conference on decision and control (IEEE cat. no. 03ch37475), (vol.\u00a02, pp. 1508\u20131513). IEEE.","DOI":"10.1109\/CDC.2003.1272825"},{"key":"10224_CR25","doi-asserted-by":"crossref","unstructured":"Luo, W., & Sycara, K. (2019). Minimum k-connectivity maintenance for robust multi-robot systems. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7370\u20137377). IEEE.","DOI":"10.1109\/IROS40897.2019.8968058"},{"key":"10224_CR26","doi-asserted-by":"crossref","unstructured":"Luo, W., Chakraborty, N., & Sycara, K. (2020). Minimally disruptive connectivity enhancement for resilient multi-robot teams. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 11809\u201311816). IEEE.","DOI":"10.1109\/IROS45743.2020.9340733"},{"key":"10224_CR27","doi-asserted-by":"publisher","DOI":"10.1515\/9781400835355","volume-title":"Graph Theoretic Methods in Multiagent Networks","author":"M Mesbahi","year":"2010","unstructured":"Mesbahi, M., & Egerstedt, M. (2010). Graph Theoretic Methods in Multiagent Networks. Princeton: Princeton University Press."},{"key":"10224_CR28","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.103384","volume":"124","author":"M Minelli","year":"2020","unstructured":"Minelli, M., Panerati, J., Kaufmann, M., Ghedini, C., Beltrame, G., & Sabattini, L. (2020). Self-optimization of resilient topologies for fallible multi-robots. Robotics and Autonomous Systems, 124, Article 103384.","journal-title":"Robotics and Autonomous Systems"},{"issue":"12","key":"10224_CR29","doi-asserted-by":"publisher","first-page":"5970","DOI":"10.1109\/TWC.2009.12.081566","volume":"8","author":"RE Moraes","year":"2009","unstructured":"Moraes, R. E., Ribeiro, C. C., & Duhamel, C. (2009). Optimal solutions for fault-tolerant topology control in wireless ad hoc networks. IEEE Transactions on Wireless Communications, 8(12), 5970\u20135981.","journal-title":"IEEE Transactions on Wireless Communications"},{"key":"10224_CR30","doi-asserted-by":"publisher","first-page":"769","DOI":"10.1007\/s10514-018-9812-8","volume":"43","author":"J Panerati","year":"2019","unstructured":"Panerati, J., Minelli, M., Ghedini, C., Meyer, L., Kaufmann, M., Sabattini, L., et al. (2019). Robust connectivity maintenance for fallible robots. Autonomous Robots, 43, 769\u2013787.","journal-title":"Autonomous Robots"},{"key":"10224_CR31","doi-asserted-by":"crossref","unstructured":"Preiss, J.A., Honig, W., Sukhatme, G.S., & Ayanian, N. (2017). Crazyswarm : A large nano-quadcopter swarm. In: 2017 IEEE International Conference on Robotics and Automation (ICRA) (pp. 3299\u20133304). IEEE.","DOI":"10.1109\/ICRA.2017.7989376"},{"key":"10224_CR32","unstructured":"Press, W.H. (2007). Numerical recipes 3rd edition: The art of scientific computing. Cambridge University Press"},{"key":"10224_CR33","doi-asserted-by":"crossref","unstructured":"Ramanathan, R., & Rosales-Hain, R. (2000). Topology control of multihop wireless networks using transmit power adjustment. In: Proceedings IEEE INFOCOM 2000. Conference on Computer Communications. Nineteenth Annual Joint Conference of the IEEE Computer and Communications Societies (Cat. No. 00CH37064), (vol. 2 p. 404\u2013413). IEEE.","DOI":"10.1109\/INFCOM.2000.832213"},{"issue":"2","key":"10224_CR34","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3303848","volume":"52","author":"Y Rizk","year":"2019","unstructured":"Rizk, Y., Awad, M., & Tunstel, E. W. (2019). Cooperative heterogeneous multi-robot systems: A survey. ACM Computing Surveys (CSUR), 52(2), 1\u201331.","journal-title":"ACM Computing Surveys (CSUR)"},{"key":"10224_CR35","doi-asserted-by":"publisher","first-page":"729","DOI":"10.1007\/s10514-015-9491-7","volume":"40","author":"C Robin","year":"2016","unstructured":"Robin, C., & Lacroix, S. (2016). Multi-robot target detection and tracking: Taxonomy and survey. Autonomous Robots, 40, 729\u2013760.","journal-title":"Autonomous Robots"},{"issue":"3","key":"10224_CR36","doi-asserted-by":"publisher","first-page":"299","DOI":"10.1177\/0278364912469671","volume":"32","author":"P Robuffo Giordano","year":"2013","unstructured":"Robuffo Giordano, P., Franchi, A., Secchi, C., & B\u00fclthoff, H. H. (2013). A passivity-based decentralized strategy for generalized connectivity maintenance. The International Journal of Robotics Research., 32(3), 299\u2013323.","journal-title":"The International Journal of Robotics Research."},{"issue":"12","key":"10224_CR37","doi-asserted-by":"publisher","first-page":"1411","DOI":"10.1177\/0278364913499085","volume":"32","author":"L Sabattini","year":"2013","unstructured":"Sabattini, L., Chopra, N., & Secchi, C. (2013). Decentralized connectivity maintenance for cooperative control of mobile robotic systems. The International Journal of Robotics Research, 32(12), 1411\u20131423.","journal-title":"The International Journal of Robotics Research"},{"issue":"5","key":"10224_CR38","doi-asserted-by":"publisher","first-page":"1326","DOI":"10.1109\/TRO.2013.2267971","volume":"29","author":"L Sabattini","year":"2013","unstructured":"Sabattini, L., Secchi, C., Chopra, N., & Gasparri, A. (2013). Distributed control of multirobot systems with global connectivity maintenance. IEEE Transactions on Robotics, 29(5), 1326\u20131332.","journal-title":"IEEE Transactions on Robotics"},{"key":"10224_CR39","doi-asserted-by":"crossref","unstructured":"Shi, G., Rabban, I.E., Zhou, L., & Tokekar, P. (2021). Communication-aware multi-robot coordination with submodular maximization. In: 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 8955\u20138961) IEEE.","DOI":"10.1109\/ICRA48506.2021.9561041"},{"key":"10224_CR40","doi-asserted-by":"crossref","unstructured":"Skiena, S.S. (2008). The algorithm design manual, vol. 2. Springer.","DOI":"10.1007\/978-1-84800-070-4"},{"key":"10224_CR41","unstructured":"Tolstaya, E., Gama, F., Paulos, J., Pappas, G., Kumar, V., & Ribeiro, A. (2020). Learning decentralized controllers for robot swarms with graph neural networks. In: Conference on robot learning PMLR pp. 671\u2013682."},{"issue":"12","key":"10224_CR42","doi-asserted-by":"publisher","first-page":"399","DOI":"10.5772\/57313","volume":"10","author":"Z Yan","year":"2013","unstructured":"Yan, Z., Jouandeau, N., & Cherif, A. A. (2013). A survey and analysis of multi-robot coordination. International Journal of Advanced Robotic Systems, 10(12), 399.","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"9","key":"10224_CR43","doi-asserted-by":"publisher","first-page":"1525","DOI":"10.1109\/JPROC.2011.2157884","volume":"99","author":"MM Zavlanos","year":"2011","unstructured":"Zavlanos, M. M., Egerstedt, M. B., & Pappas, G. J. (2011). Graph-theoretic connectivity control of mobile robot networks. Proceedings of the IEEE, 99(9), 1525\u20131540.","journal-title":"Proceedings of the IEEE"},{"key":"10224_CR44","doi-asserted-by":"crossref","unstructured":"Zhou, L., Sharma, V.D., Li, Q., Prorok, A., Ribeiro, A., Tokekar, P., & Kumar, V. (2022). Graph neural networks for decentralized multi-robot target tracking. In: 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) pp. 195\u2013202. IEEE.","DOI":"10.1109\/SSRR56537.2022.10018712"},{"key":"10224_CR45","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1007\/s43154-021-00046-5","volume":"2","author":"L Zhou","year":"2021","unstructured":"Zhou, L., & Tokekar, P. (2021). Multi-robot coordination and planning in uncertain and adversarial environments. Current Robotics Reports, 2, 147\u2013157.","journal-title":"Current Robotics Reports"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-025-10224-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-025-10224-5","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-025-10224-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T08:33:30Z","timestamp":1766565210000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-025-10224-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,6]]},"references-count":45,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["10224"],"URL":"https:\/\/doi.org\/10.1007\/s10514-025-10224-5","relation":{"has-preprint":[{"id-type":"doi","id":"10.21203\/rs.3.rs-6649574\/v1","asserted-by":"object"}]},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,6]]},"assertion":[{"value":"12 May 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 August 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 October 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 November 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}}],"article-number":"34"}}