{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T15:24:22Z","timestamp":1783092262062,"version":"3.54.6"},"reference-count":34,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2010,1,25]],"date-time":"2010-01-25T00:00:00Z","timestamp":1264377600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,4]]},"abstract":"<jats:p>The growing interest in robot teams for surveillance or rescue missions entails new technological challenges. Robots have to move to complete their tasks while maintaining communication among themselves and with their human operators, in many cases without the aid of a communication infrastructure. Guaranteeing connectivity enables robots to explicitly exchange information needed in collaborative task execution, and allows operators to monitor or manually control any robot at all times. Network paths should be multi-hop, so as not to unnecessarily restrict the team\u2019s range. In this work we contribute a complete system which integrates three research aspects, usually studied separately, to achieve these characteristics: a multi-robot cooperative motion control technique based on a virtual spring\u2014damper model which prevents communication network splits, a task allocation algorithm that takes advantage of network link information in order to ensure autonomous mission completion, and a network layer which works over wireless 802.11 devices, capable of sustaining hard real-time traffic and changing topologies. Link quality among peers is the key metric used to cooperatively move the robots and maintain uninterrupted connectivity, and the basis for novel ideas presented in each subsystem. Simulations and experimental results with real robots are presented and discussed.<\/jats:p>","DOI":"10.1177\/0278364909358274","type":"journal-article","created":{"date-parts":[[2010,1,25]],"date-time":"2010-01-25T20:56:15Z","timestamp":1264452975000},"page":"460-480","source":"Crossref","is-referenced-by-count":83,"title":["Enforcing Network Connectivity in Robot Team Missions"],"prefix":"10.1177","volume":"29","author":[{"given":"D.","family":"Tardioli","sequence":"first","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, University of                         Zaragoza, Spain, {dantard, amosteo, riazuelo, jlvilla,                     montano}@unizar.es"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A.R.","family":"Mosteo","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, University of                         Zaragoza, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"L.","family":"Riazuelo","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, University of                         Zaragoza, Spain,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J.L.","family":"Villarroel","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, University of                         Zaragoza, Spain,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"L.","family":"Montano","sequence":"additional","affiliation":[{"name":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n, University of                         Zaragoza, Spain,"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2010,1,25]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2004.04.003"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/MNET.2004.1316760"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839232"},{"key":"atypb4","volume-title":"DARPA\u2019s landroids to autonomously cover areas with wi-fi","author":"DAR","year":"2007"},{"key":"atypb5","volume-title":"Ad Hoc Networks: A Protocol for Supporting QoS Applications","author":"Donatiello, L.","year":"2003"},{"issue":"5","key":"atypb6","first-page":"712","volume":"5","author":"Facchinetti, T.","year":"2005","journal-title":"EURASIP Joural of Wireless Communication Networks"},{"key":"atypb7","first-page":"1497","volume":"31","author":"Farkas, K.","year":"2008","journal-title":"Computer Comunications"},{"key":"atypb8","volume-title":"Proceedings of the 10th IEEE International Conference on Emerging Technologies and Factory Automation (EFTA)","author":"Franchino, G."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045564"},{"key":"atypb10","first-page":"317","author":"Gerkey, B.","year":"2003","journal-title":"Proceedings of ICAR"},{"key":"atypb11","volume-title":"Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. 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