Resilient Backbones in Hexagonal Robot Formations

  • David SaldañaEmail author
  • Luis Guerrero-Bonilla
  • Vijay Kumar
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)


Achieving consensus in distributed robot networks is a challenging task when the network contains non-cooperative robots. The conditions of robustness in communication networks are very restrictive and difficult to adapt to robot networks where the communication links are based on proximity. In this paper, we present a new topology network that is suitable for triangular lattices. We introduce sufficient conditions on hexagonal formations to offer resilience up to F non-cooperative robots. Using our framework, a resilient backbone can be designed to connect multiple points or to cover a given area while maintaining a robust communication network. We show theoretical guarantees for our proposed hexagonal formation and its variations. Different scenarios in simulations are presented to validate our approach.



We gratefully acknowledge the support of ARL DCIST CRA W911NF-17-2-0181. N00014-14-1-0510, NSF grant CNS-1521617, and N00014-15-1-2115.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • David Saldaña
    • 1
    Email author
  • Luis Guerrero-Bonilla
    • 1
  • Vijay Kumar
    • 1
  1. 1.University of PennsylvaniaPhiladelphiaUSA

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