A Self-stabilizing Protocol for an Ad hoc Networks of Mobile Robots

Cooperation and coordination in a multi-robot team is a very important feature of autonomous systems, but require communication between wireless components (i.e., robots) to re-construct a global model of the system. Generally, communication protocols for such networks are not self-stabilizing. In this work, we study the protocol proposed in [1]. This protocol has two specific features : network components are most of the time disconnected (limited life-time for communication link) and robot’s movements are restricted. Our contribution is twofold. At first, we give a simplified proof of this protocol in a more general setting. Then we transform this protocol into a self-stabilized one.