Spatio-Temporal Reconnection for Multi-Robot Networks using Adaptive Prescribed-Time CBFs
2026-06-01 • Robotics
Robotics
AI summaryⓘ
The authors address the problem of keeping communication between multiple robots while allowing them to move freely over large areas. They propose a method called adaptive prescribed-time control barrier functions (adaptive PT-CBF) that lets robots temporarily lose contact but guarantees they reconnect within a set time. They also create a way to decide the best moment for robots to reconnect based on their tasks and urgency. Their math proves this reconnection happens on time, and experiments show their method improves task efficiency while keeping the team connected when needed.
multi-robot systemscommunication graph connectivitycontrol barrier functionsprescribed-time controladaptive controlreconnection mechanismtask executionfinite-time convergencerobot communication range
Authors
Hao Liu, Yupeng Yang, Yanze Zhang, Wenhao Luo
Abstract
In multi-robot systems, maintaining persistent communication graph connectivity is often overly restrictive, especially when robots have limited communication ranges but operate in large environments. Instead, allowing robots to temporarily disconnect and later reconnect is often more desirable for efficient task execution while still ensuring timely information sharing across the team. In this paper, we propose an adaptive prescribed-time control barrier function (adaptive PT-CBF) framework that enables robots to temporarily disconnect and re-enter the communication range within an adjustable and feasible prescribed time. Moreover, we introduce a reconnection triggering mechanism that jointly considers task execution and reconnection urgency, thereby providing a principled way to decide when reconnection should occur. Theoretical analysis justifies convergence to the satisfying reconnection within a prescribed finite time. Experimental results validate the performance of our proposed adaptive PT-CBF with improved task efficiency and satisfying reconnections.