Robust Geospatial Coordination of Multi-Agent Communications Networks Under Attrition
Jonathan S. Kent, Eliana Stefani, Brian Plancher

TL;DR
This paper introduces a new topology-based algorithm, $\
Contribution
It formalizes the RTNUA problem and proposes $\
Findings
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contribution":"It formalizes the RTNUA problem and proposes $\
Abstract
Coordinating emergency responses in extreme environments, such as wildfires, requires resilient and high-bandwidth communication backbones. While autonomous aerial swarms can establish ad-hoc networks to provide this connectivity, the high risk of individual node attrition in these settings often leads to network fragmentation and mission-critical downtime. To overcome this challenge, we introduce and formalize the problem of Robust Task Networking Under Attrition (RTNUA), which extends connectivity maintenance in multi-robot systems to explicitly address proactive redundancy and attrition recovery. We then introduce Physics-Informed Robust Employment of Multi-Agent Networks (IREMAN), a topological algorithm leveraging physics-inspired potential fields to solve this problem. In our evaluations, IREMAN consistently outperforms baselines, and is able to maintain greater than…
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