{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T07:33:54Z","timestamp":1778830434425,"version":"3.51.4"},"reference-count":67,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2024,6,13]],"date-time":"2024-06-13T00:00:00Z","timestamp":1718236800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,6,13]],"date-time":"2024-06-13T00:00:00Z","timestamp":1718236800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Connectivity is an integral trait for swarm robotic systems to enable effective collaboration between the robots in the swarm. However, connectivity can be lost due to events that could not have been a priori accounted for. This paper presents a novel probabilistic connectivity-restoration strategy for swarms with limited communication capabilities. Namely, it is assumed that the swarm comprises a group of<jats:italic>follower<\/jats:italic>robots whose global connectivity to a base can only be achieved via a localized<jats:italic>leader<\/jats:italic>robot. In this context, the proposed strategy incrementally restores swarm connectivity by searching for the lost robots in regions-of-interest (RoIs) determined using probability theory. Once detected, newly found robots are either recruited to help the leader in the restoration process, or directly guided to their respective destinations through accurate localization and corrective motion commands. The proposed swarm-connectivity strategy, thus, comprises the following three stages: (<jats:italic>i<\/jats:italic>) identifying a discrete set of optimal RoIs, (<jats:italic>ii<\/jats:italic>) visitation of these RoIs, by the leader robot, via an optimal inter-region search path, and (<jats:italic>iii<\/jats:italic>) searching for lost robots within the individual RoIs via an optimal intra-region search path. The strategy is novel in its use of a probabilistic approach to guide the leader robot\u2019s search as well as the potential recruitment of detected lost robots to help in the restoration process. The effectiveness of the proposed probabilistic swarm connectivity-restoration strategy is represented, herein, through a detailed simulated experiment. The significant efficiency of the strategy is also illustrated numerically via a comparison to a competing random-walk based method.<\/jats:p>","DOI":"10.1007\/s10846-024-02097-0","type":"journal-article","created":{"date-parts":[[2024,6,13]],"date-time":"2024-06-13T09:01:56Z","timestamp":1718269316000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Restoring Connectivity in Robotic Swarms \u2013 A Probabilistic Approach"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7391-5445","authenticated-orcid":false,"given":"Kasra","family":"Eshaghi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7339-8844","authenticated-orcid":false,"given":"Naeimeh Najafizadeh","family":"Sari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-5557-8042","authenticated-orcid":false,"given":"Cameron","family":"Haigh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0711-6148","authenticated-orcid":false,"given":"Darie","family":"Roman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7080-6857","authenticated-orcid":false,"given":"Goldie","family":"Nejat","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5097-3965","authenticated-orcid":false,"given":"Beno","family":"Benhabib","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,6,13]]},"reference":[{"issue":"3","key":"2097_CR1","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1017\/S026357471200032X","volume":"31","author":"JC Barca","year":"2013","unstructured":"Barca, J.C., Sekercioglu, Y.A.: Swarm robotics reviewed. Robotica 31(3), 345\u2013359 (2013)","journal-title":"Robotica"},{"issue":"1","key":"2097_CR2","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11721-012-0075-2","volume":"7","author":"M Brambilla","year":"2013","unstructured":"Brambilla, M., Ferrante, E., Birattari, M., Dorigo, M.: Swarm robotics: A review from the swarm engineering perspective. Swarm Intell. 7(1), 1\u201341 (2013)","journal-title":"Swarm Intell."},{"key":"2097_CR3","doi-asserted-by":"crossref","unstructured":"\u015eahin, E.: Swarm robotics: From sources of inspiration to domains of application. In: \u015eahin, E.\u00a0and Spears, W.M. (eds.) Swarm Robotics. pp. 10\u201320 (2004)","DOI":"10.1007\/978-3-540-30552-1_2"},{"key":"2097_CR4","doi-asserted-by":"crossref","unstructured":"Schranz, M., Umlauft, M., Sende, M., Elmenreich, W.: Swarm robotic behaviors and current\u00a0applications, Front. Robot. AI 7, (2020)","DOI":"10.3389\/frobt.2020.00036"},{"issue":"11","key":"2097_CR5","doi-asserted-by":"publisher","first-page":"1909","DOI":"10.1017\/S0263574721000059","volume":"39","author":"M Farid","year":"2021","unstructured":"Farid, M., Kamal, M.A.S., Egerton, S.: Search strategies and specifications in a swarm versus swarm context. Robotica 39(11), 1909\u20131925 (2021)","journal-title":"Robotica"},{"issue":"9","key":"2097_CR6","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1017\/S0263574723000668","volume":"41","author":"A Abdelli","year":"2023","unstructured":"Abdelli, A., Yachir, A., Amamra, A., Khaldi, B.: Maximum likelihood estimate sharing for collective perception in static environments for swarm robotics\u201d. Robotica 41(9), 1\u201320 (2023)","journal-title":"Robotica"},{"issue":"7","key":"2097_CR7","doi-asserted-by":"publisher","first-page":"1017","DOI":"10.1017\/S0263574713001185","volume":"32","author":"MS Couceiro","year":"2014","unstructured":"Couceiro, M.S., Portugal, D., Rocha, R.P., Ferreira, N.M.: Marsupial teams of robots: deployment of miniature robots for swarm exploration under communication constraints. Robotica 32(7), 1017\u20131038 (2014)","journal-title":"Robotica"},{"key":"2097_CR8","doi-asserted-by":"publisher","first-page":"603","DOI":"10.1007\/s10846-010-9537-1","volume":"64","author":"Y Stergiopoulos","year":"2011","unstructured":"Stergiopoulos, Y., Tzes, A.: Decentralized swarm coordination: A combined coverage\/connectivity approach. J. Intell. Robot. Syst. 64, 603\u2013623 (2011)","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"2097_CR9","doi-asserted-by":"publisher","first-page":"962","DOI":"10.1109\/LRA.2020.2966411","volume":"5","author":"K Eshaghi","year":"2020","unstructured":"Eshaghi, K., Li, Y., Kashino, Z., Nejat, G., Benhabib, B.: mROBerTO 2.0 \u2013 An autonomous millirobot with enhanced locomotion for swarm robotics. Robot. Autom. Let 5(2), 962\u2013969 (2020)","journal-title":"Robot. Autom. Let"},{"key":"2097_CR10","doi-asserted-by":"crossref","unstructured":"Kim J.Y., Colaco, T., Kashino, Z., Nejat, G., Benhabib, B.: mROBerTO: A modular millirobot for\u00a0swarm-behavior studies. In: IEEE\/RSJ International Conference on Intelligent Robots and\u00a0Systems. pp. 2109\u20132114. IEEE (2016)","DOI":"10.1109\/IROS.2016.7759331"},{"issue":"11","key":"2097_CR11","doi-asserted-by":"publisher","first-page":"1591","DOI":"10.1017\/S0263574718000589","volume":"36","author":"JY Kim","year":"2018","unstructured":"Kim, J.Y., Kashino, Z., Colaco, T., Nejat, G., Benhabib, B.: Design and implementation of a millirobot for swarm studies \u2013 mROBerTO. Robotica 36(11), 1591\u20131612 (2018)","journal-title":"Robotica"},{"issue":"6","key":"2097_CR12","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1177\/1729881419892127","volume":"16","author":"JY Kim","year":"2019","unstructured":"Kim, J.Y., et al.: A high-performance millirobot for swarm-behaviour studies: Swarm-topology estimation. Int. J. Adv. Robot. Syst. 16(6), 1\u201318 (2019)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"2097_CR13","doi-asserted-by":"crossref","unstructured":"Drisdelle, R., Kashino, Z., Nejat, G., Benhabib, B.: Motion control of a wheeled millirobot. In:\u00a0International Conference of Control, Dynamic Systems, and Robotics. (2017)","DOI":"10.11159\/cdsr17.124"},{"issue":"12","key":"2097_CR14","doi-asserted-by":"publisher","first-page":"2283","DOI":"10.1017\/S0263574721000321","volume":"39","author":"K Eshaghi","year":"2021","unstructured":"Eshaghi, K., Kashino, Z., Yoon, H.J., Nejat, G., Benhabib, B.: An inchworm-inspired motion strategy for robotic swarms. Robotica 39(12), 2283\u20132305 (2021)","journal-title":"Robotica"},{"key":"2097_CR15","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1007\/s10846-020-01269-y","volume":"101","author":"Z Chen","year":"2021","unstructured":"Chen, Z., Emami, M.R., Chen, W.: Connectivity preservation and obstacle avoidance in small multi-spacecraft formation with distributed adaptive tracking control. J. Intell. Robot. Syst. 101, 16 (2021)","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"2097_CR16","doi-asserted-by":"publisher","first-page":"390","DOI":"10.1016\/j.automatica.2009.11.012","volume":"46","author":"P Yang","year":"2010","unstructured":"Yang, P., Freeman, R.A., Gordon, G.J., Lynch, K.M., Srinivasa, S.S., Sukthankar, R.: Decentralized estimation and control of graph connectivity for mobile sensor networks. Automatica 46(2), 390\u2013396 (2010)","journal-title":"Automatica"},{"issue":"4","key":"2097_CR17","doi-asserted-by":"publisher","first-page":"693","DOI":"10.1109\/TRO.2007.900638","volume":"23","author":"M Ji","year":"2007","unstructured":"Ji, M., Egerstedt, M.: Distributed coordination control of multiagent systems while preserving connectedness. IEEE Trans. Robot. 23(4), 693\u2013703 (2007)","journal-title":"IEEE Trans. Robot."},{"key":"2097_CR18","doi-asserted-by":"crossref","unstructured":"Luo, W., Yi, S., Sycara, K.: Behavior mixing with minimum global and subgroup connectivity\u00a0maintenance for large-scale multi-robot systems. In: IEEE International Conference on Robotics\u00a0and Automation. pp. 9845\u20139851. IEEE (2020)","DOI":"10.1109\/ICRA40945.2020.9197429"},{"issue":"3","key":"2097_CR19","doi-asserted-by":"publisher","first-page":"299","DOI":"10.1177\/0278364912469671","volume":"32","author":"PR Giordano","year":"2013","unstructured":"Giordano, P.R., Franchi, A., Secchi, C., B\u00fclthoff, H.H.: A passivity-based decentralized strategy for generalized connectivity maintenance. Int. J. Robot. Res. 32(3), 299\u2013323 (2013)","journal-title":"Int. J. Robot. Res."},{"issue":"12","key":"2097_CR20","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.: Decentralized connectivity maintenance for cooperative control of mobile robotic systems. Int. J. Robot. Res. 32(12), 1411\u20131423 (2013)","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"2097_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.33012\/navi.552","volume":"70","author":"A Shetty","year":"2023","unstructured":"Shetty, A., Hussain, T., Gao, G.: Decentralized connectivity maintenance for multi-robot systems under motion and sensing uncertainties. J. Inst. Navig. 70(1), 1\u201320 (2023)","journal-title":"J. Inst. Navig."},{"key":"2097_CR22","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1007\/s10846-009-9328-8","volume":"56","author":"M Schuresko","year":"2009","unstructured":"Schuresko, M., Cort\u00e9s, J.: Distributed motion constraints for algebraic connectivity of robotic networks. J. Intell. Robot. Syst. 56, 99\u2013126 (2009)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"2097_CR23","doi-asserted-by":"publisher","first-page":"164","DOI":"10.1109\/JPROC.2011.2161427","volume":"100","author":"J Fink","year":"2012","unstructured":"Fink, J., Ribeiro, A., Kumar, V.: Robust control for mobility and wireless communication in cyber\u2013physical systems with application to robot teams. Proc. IEEE 100(1), 164\u2013178 (2012)","journal-title":"Proc. IEEE"},{"key":"2097_CR24","doi-asserted-by":"crossref","unstructured":"Ghedini, C., Ribeiro, C.C.H., Sabattini, L.: A decentralized control strategy for resilient\u00a0connectivity maintenance in multi-robot systems subject to failures. In: Springer Proceedings in\u00a0Advanced Robotics 6. pp. 89\u2013102. (2018)","DOI":"10.1007\/978-3-319-73008-0_7"},{"issue":"6","key":"2097_CR25","doi-asserted-by":"publisher","first-page":"3564","DOI":"10.1109\/TRO.2022.3181055","volume":"38","author":"K Eshaghi","year":"2022","unstructured":"Eshaghi, K., Rogers, A., Nejat, G., Benhabib, B.: Closed-loop motion control of robotic swarms \u2013 A tether-based strategy. IEEE Trans. Robot. 38(6), 3564\u20133581 (2022)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"2097_CR26","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1007\/s10846-023-01881-8","volume":"108","author":"K Eshaghi","year":"2023","unstructured":"Eshaghi, K., Nejat, G., Benhabib, B.: A concurrent mission-planning methodology for robotic swarms using collaborative motion-control strategies. J. Intell. Robot. Syst. 108(2), 15 (2023)","journal-title":"J. Intell. Robot. Syst."},{"key":"2097_CR27","doi-asserted-by":"publisher","first-page":"343","DOI":"10.1007\/s10846-013-9872-0","volume":"75","author":"M Defoort","year":"2014","unstructured":"Defoort, M., Veluvolu, K.C.: A motion planning framework with connectivity management for multiple cooperative robots. J. Intell. Robot. Syst. 75, 343\u2013357 (2014)","journal-title":"J. Intell. Robot. Syst."},{"key":"2097_CR28","doi-asserted-by":"crossref","unstructured":"Meng, Y., Nickerson, J., Gan, J.: Hierarchical multi-robot coordination - Aggregation strategies\u00a0using hybrid communication. In: Proceedings of the International Conference on Informatics in\u00a0Control, Automation, and Robotics. pp. 289\u2013295. (2006)","DOI":"10.5220\/0001212802890295"},{"key":"2097_CR29","doi-asserted-by":"crossref","unstructured":"Meng, Y., Nickerson, J.V., Gan, J.: Multi-robot aggregation strategies with limited\u00a0communication. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems. pp.\u00a02691\u20132696. IEEE (2006)","DOI":"10.1109\/IROS.2006.281991"},{"key":"2097_CR30","doi-asserted-by":"crossref","unstructured":"Derbakova, A., Correll, N., Rus, D.: Decentralized self-repair to maintain connectivity and\u00a0coverage in networked multi-robot systems. In: IEEE International Conference on Robotics and\u00a0AutomaTion. pp. 3863\u20133868. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5980367"},{"issue":"4","key":"2097_CR31","doi-asserted-by":"publisher","first-page":"341","DOI":"10.1007\/s10846-006-9080-2","volume":"47","author":"F Kunwar","year":"2006","unstructured":"Kunwar, F., Wong, F., Mrad, R.B., Benhabib, B.: Guidance-based on-line robot motion planning for the interception of mobile targets in dynamic environments. J. Intell. Robot. Syst. 47(4), 341\u2013360 (2006)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"2097_CR32","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1023\/B:JINT.0000034337.95125.bf","volume":"40","author":"F Agah","year":"2004","unstructured":"Agah, F., Mehrandezh, M., Fenton, R.G., Benhabib, B.: On-line robotic interception planning using a rendezvous-guidance technique. J. Intell. Robot. Syst. 40(1), 23\u201344 (2004)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"2097_CR33","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1023\/A:1014490704273","volume":"33","author":"JM Borg","year":"2002","unstructured":"Borg, J.M., Mehrandezh, M., Fenton, R.G., Benhabib, B.: Navigation-guidance-based robotic interception of moving objects in industrial settings. J. Intell. Robot. Syst. 33(1), 1\u201323 (2002)","journal-title":"J. Intell. Robot. Syst."},{"issue":"4","key":"2097_CR34","doi-asserted-by":"publisher","first-page":"295","DOI":"10.1016\/S0921-8890(99)00044-5","volume":"28","author":"M Mehrandezh","year":"1999","unstructured":"Mehrandezh, M., Sela, M.N., Fenton, R.G., Benhabib, B.: Robotic interception of moving objects using ideal proportional navigation guidance technique. Robot. Auton. Syst. 28(4), 295\u2013310 (1999)","journal-title":"Robot. Auton. Syst."},{"key":"2097_CR35","first-page":"451","volume":"28","author":"K Engin","year":"2018","unstructured":"Engin, K., Isler, V.: Minimizing movement to establish the connectivity of randomly deployed robots. Proc. Int. Conf. Autom. Plan. Sched. 28, 451\u2013458 (2018)","journal-title":"Proc. Int. Conf. Autom. Plan. Sched."},{"issue":"4","key":"2097_CR36","doi-asserted-by":"publisher","first-page":"5347","DOI":"10.1109\/LRA.2020.3006793","volume":"5","author":"VS Varadharajan","year":"2020","unstructured":"Varadharajan, V.S., St-Onge, D., Adams, B., Beltrame, G.: Swarm relays: Distributed self-healing ground-and-air connectivity chains. IEEE Robot. Autom. Lett. 5(4), 5347\u20135354 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"8","key":"2097_CR37","first-page":"446","volume":"52","author":"Y Marchukov","year":"2019","unstructured":"Marchukov, Y., Montano, L.: Multi-robot coordination for connectivity recovery after unpredictable environment changes. IFAC-Pap. 52(8), 446\u2013451 (2019)","journal-title":"IFAC-Pap."},{"key":"2097_CR38","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1016\/j.neucom.2022.11.054","volume":"520","author":"R Dutta","year":"2023","unstructured":"Dutta, R., Kandath, H., Jayavelu, S., Xiaoli, L., Sundaram, S., Pack, D.: A decentralized learning strategy to restore connectivity during multi-agent formation control. Neurocomputing 520, 33\u201345 (2023)","journal-title":"Neurocomputing"},{"key":"2097_CR39","doi-asserted-by":"crossref","unstructured":"Wagner A, Arkin R.: Multi-robot communication-sensitive reconnaissance. In: Proceedings of\u00a0the IEEE International Conference on Robotics and Automation. pp. 4674\u20134681. IEEE (2004)","DOI":"10.21236\/ADA442667"},{"issue":"7","key":"2097_CR40","doi-asserted-by":"publisher","first-page":"994","DOI":"10.1109\/JSAC.2010.100904","volume":"28","author":"H Liu","year":"2010","unstructured":"Liu, H., Chu, X., Leung, Y.-W., Du, R.: Simple movement control algorithm for bi-connectivity in robotic sensor networks. IEEE J. Sel. Areas Commun. 28(7), 994\u20131005 (2010)","journal-title":"IEEE J. Sel. Areas Commun."},{"issue":"2","key":"2097_CR41","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1023\/A:1011219024159","volume":"11","author":"N Roy","year":"2001","unstructured":"Roy, N., Dudek, G.: Collaborative robot exploration and rendezvous: Algorithms, performance bounds and observations. Auton. Robots 11(2), 117\u2013136 (2001)","journal-title":"Auton. Robots"},{"key":"2097_CR42","doi-asserted-by":"crossref","unstructured":"Ulam, P., Arkin, R.C.: When good communication go bad: Communications recovery for multi-robot teams. In: Proceedings of the IEEE International Conference on Robotics and Automation.\u00a0pp. 3727\u20133734. IEEE (2004)","DOI":"10.21236\/ADA443157"},{"key":"2097_CR43","doi-asserted-by":"crossref","unstructured":"Chaimowicz, L., Cowley, A., Gomez-Ibanez, D., Grocholsky, B., Hsieh, M.A., Hsu, H., Keller,\u00a0J.F., Kumar, V., Swaminathan, R., Taylor, C.J.: Deploying air-ground multi-robot teams in urban\u00a0environments. In: Multi-Robot Systems - From Swarms to Intelligent Automata. pp. 223\u2013234.\u00a0(2005)","DOI":"10.1007\/1-4020-3389-3_18"},{"key":"2097_CR44","doi-asserted-by":"crossref","unstructured":"Hansen, E., A., Nichele, S., Yazidi, A., Haugerud, H., Mofrad, A.A., Alcocer, A.: Achieving\u00a0connectivity between wide areas through self-organising robot swarms using embodied\u00a0evolution. In: IEEE Symposium Series on Computational Intelligence. pp. 875\u2013883. (2018)","DOI":"10.1109\/SSCI.2018.8628944"},{"issue":"3","key":"2097_CR45","doi-asserted-by":"publisher","first-page":"3093","DOI":"10.1109\/JSYST.2020.2970649","volume":"14","author":"U Baroudi","year":"2020","unstructured":"Baroudi, U., Aldarwbi, M., Younis, M.: Energy-aware connectivity restoration mechanism for cyber-physical systems of networked sensors and robots. IEEE Syst. J. 14(3), 3093\u20133104 (2020)","journal-title":"IEEE Syst. J."},{"issue":"A","key":"2097_CR46","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.: Connectivity restoration in a partitioned wireless sensor network with assured fault tolerance\u201d. Ad Hoc Netw. 24(A), 1\u201319 (2015)","journal-title":"Ad Hoc Netw."},{"issue":"4","key":"2097_CR47","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.: Movement control algorithms for realization of fault-tolerant ad hoc robot networks. IEEE Netw. 18(4), 36\u201344 (2004)","journal-title":"IEEE Netw."},{"issue":"9","key":"2097_CR48","doi-asserted-by":"publisher","first-page":"1366","DOI":"10.1109\/TPDS.2008.246","volume":"20","author":"A Abbasi","year":"2009","unstructured":"Abbasi, A., Younis, M., Akkaya, K.: Movement-assisted connectivity restoration in wireless sensor and actor networks. IEEE Trans. Parallel Distrib. Syst. 20(9), 1366\u20131379 (2009)","journal-title":"IEEE Trans. Parallel Distrib. Syst."},{"key":"2097_CR49","doi-asserted-by":"crossref","unstructured":"Haider, N., Imran, M., Saad, N.M.: CARE: Coverage-aware connectivity restoration algorithm for mobile actor\/robot networks. In: Asia-Pacific Conference on Communications. pp. 439\u2013444.\u00a0(2013)","DOI":"10.1109\/APCC.2013.6765985"},{"issue":"8","key":"2097_CR50","doi-asserted-by":"publisher","first-page":"4640","DOI":"10.1109\/JSEN.2015.2426177","volume":"15","author":"Z Mi","year":"2015","unstructured":"Mi, Z., Yang, Y., Yang, J.Y.: Restoring connectivity of mobile robotic sensor networks while avoiding obstacles. IEEE Sens. J. 15(8), 4640\u20134650 (2015)","journal-title":"IEEE Sens. J."},{"issue":"4","key":"2097_CR51","doi-asserted-by":"publisher","first-page":"250","DOI":"10.1504\/IJSNET.2012.047152","volume":"11","author":"A Abbasi","year":"2012","unstructured":"Abbasi, A., Younis, M.F., Baroudi, U.A.: A least\u2013movement topology repair algorithm for partitioned wireless sensor\u2013actor networks. Int. J. Sens. Netw. 11(4), 250\u2013262 (2012)","journal-title":"Int. J. Sens. Netw."},{"key":"2097_CR52","doi-asserted-by":"crossref","unstructured":"Mi, Z., Yang, Y., Liu, G.: HERO: A hybrid connectivity restoration framework for mobile multi-agent networks. In: IEEE International Conference on Robotics and Automation. pp.\u00a01702\u20131707. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5979682"},{"key":"2097_CR53","doi-asserted-by":"crossref","unstructured":"Bertuccelli, L.F., How, J.P.: UAV search for dynamic targets with uncertain motion models. In:\u00a0Proceedings of the IEEE Conference on Decision and Control. pp. 5941\u20135946. IEEE (2006)","DOI":"10.1109\/CDC.2006.377010"},{"key":"2097_CR54","doi-asserted-by":"crossref","unstructured":"Luo, X.: A regional necessity based multi-agent target search strategy for post-earthquake\u00a0rescue. In: Chinese Control Conference. pp. 4903\u20134908. (2022)","DOI":"10.23919\/CCC55666.2022.9901731"},{"key":"2097_CR55","doi-asserted-by":"crossref","unstructured":"Meghjani, M., Manjanna, S., Dudek, G.: Multi-target rendezvous search. In: IEEE\/RSJ.\u00a0International Conference on Intelligent Robots and Systems. pp. 2596\u20132603. IEEE (2016)","DOI":"10.1109\/IROS.2016.7759404"},{"key":"2097_CR56","doi-asserted-by":"crossref","unstructured":"Meghjani, M., Manjanna, S., Dudek, G.: Multi-target search strategies. In: IEEE International\u00a0Symposium on Safety, Security, and Rescue Robotics. pp. 328\u2013333. IEEE (2016)","DOI":"10.1109\/SSRR.2016.7784323"},{"key":"2097_CR57","doi-asserted-by":"crossref","unstructured":"Wang, P., Meghjani, M.: Lost at Sea: Multi-searcher multi-target search. In: Global Oceans 2020:\u00a0Singapore \u2013 U.S. Gulf Coast. pp. 1\u20138. IEEE (2020)","DOI":"10.1109\/IEEECONF38699.2020.9389479"},{"key":"2097_CR58","doi-asserted-by":"crossref","unstructured":"Wang, P., Meghjani, M., Chen, G.: Marine trash collection: A multi-agent, multi-target search. In:\u00a0OCEANS 2022, Hampton Roads. pp. 1\u20137. IEEE (2022)","DOI":"10.1109\/OCEANS47191.2022.9977211"},{"key":"2097_CR59","doi-asserted-by":"crossref","unstructured":"Macwan A, Nejat G, Benhabib B.: Optimal deployment of robotic teams for autonomous\u00a0wilderness search and rescue. In: IEEE\/RSJ International Conference on Intelligent Robots and\u00a0Systems. pp. 4544\u20134549. IEEE (2011)","DOI":"10.1109\/IROS.2011.6094517"},{"issue":"11","key":"2097_CR60","doi-asserted-by":"publisher","first-page":"4405","DOI":"10.1109\/JSEN.2016.2537331","volume":"16","author":"J Vilela","year":"2016","unstructured":"Vilela, J., Kashino, Z., Ly, R., Nejat, G., Benhabib, B.: A dynamic approach to sensor network deployment for mobile-target detection in unstructured, expanding search areas. IEEE Sens. J. 16(11), 4405\u20134417 (2016)","journal-title":"IEEE Sens. J."},{"issue":"1","key":"2097_CR61","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1007\/s10846-019-01105-y","volume":"99","author":"Z Kashino","year":"2020","unstructured":"Kashino, Z., Nejat, G., Benhabib, B.: Aerial wilderness search and rescue with ground support. J. Intell. Robot. Syst. 99(1), 147\u2013163 (2020)","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"2097_CR62","doi-asserted-by":"publisher","first-page":"716","DOI":"10.1109\/TASE.2018.2857630","volume":"16","author":"K Woiceshyn","year":"2019","unstructured":"Woiceshyn, K., Kashino, Z., Nejat, G., Benhabib, B.: Vehicle routing for resource management in time-phased deployment of sensor networks. IEEE Trans. Autom. Sci. Eng. 16(2), 716\u2013728 (2019)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"2097_CR63","doi-asserted-by":"publisher","first-page":"178","DOI":"10.1016\/j.tra.2013.01.032","volume":"49","author":"PK Sheridan","year":"2013","unstructured":"Sheridan, P.K., Gluck, E., Guan, Q., Pickles, T., Balc\u0131oglu, B., Benhabib, B.: The dynamic nearest neighbor policy for the multi-vehicle pick-up and delivery problem. Transp. Res. Part Policy Pract. 49, 178\u2013194 (2013)","journal-title":"Transp. Res. Part Policy Pract."},{"key":"2097_CR64","doi-asserted-by":"crossref","unstructured":"Kashino, Z., Nejat, G., Benhabib, B.: Multi-UAV based autonomous wilderness search and\u00a0rescue using target iso-probability curves. In: International Conference on Unmanned Aircraft\u00a0Systems. pp. 636\u2013643. (2019)","DOI":"10.1109\/ICUAS.2019.8798354"},{"key":"2097_CR65","doi-asserted-by":"crossref","unstructured":"Ku S.Y., Nejat, G., Benhabib, B.: Wilderness search for lost persons\u00a0using a multimodal aerial-terrestrial robot team. Robotics 11(3), 64 (2022)","DOI":"10.3390\/robotics11030064"},{"issue":"5","key":"2097_CR66","doi-asserted-by":"publisher","first-page":"1479","DOI":"10.1109\/JSEN.2016.2638623","volume":"17","author":"Z Kashino","year":"2017","unstructured":"Kashino, Z., Kim, J.Y., Nejat, G., Benhabib, B.: Spatiotemporal adaptive optimization of a static-sensor network via a non-parametric estimation of target location likelihood. IEEE Sens. J. 17(5), 1479\u20131492 (2017)","journal-title":"IEEE Sens. J."},{"issue":"5","key":"2097_CR67","doi-asserted-by":"publisher","first-page":"8091","DOI":"10.1007\/s11042-020-10139-6","volume":"80","author":"S Katoch","year":"2021","unstructured":"Katoch, S., Chauhan, S.S., Kumar, V.: A review on genetic algorithm: Past, present, and future. Multimed. Tools Appl. 80(5), 8091\u20138126 (2021)","journal-title":"Multimed. Tools Appl."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02097-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-024-02097-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02097-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,21]],"date-time":"2024-11-21T19:12:46Z","timestamp":1732216366000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-024-02097-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,6,13]]},"references-count":67,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,6]]}},"alternative-id":["2097"],"URL":"https:\/\/doi.org\/10.1007\/s10846-024-02097-0","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,6,13]]},"assertion":[{"value":"16 October 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 March 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 June 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Author Beno Benhabib is an Executive-Board Member for the Journal of Intelligent and Robotic Systems. The authors have no relevant funding, employment, financial interests to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}},{"value":"Not Applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not Applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"Not Applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Publish"}}],"article-number":"90"}}