This paper focuses on the broadcast of information on robot networks with stochastic network interconnection topologies. Problematic communication networks are almost unavoidable in areas where we wish to deploy multi-robotic systems, usually due to a lack of environmental consistency, accessibility, and structure. We tackle this problem by modeling the broadcast of information in a multi-robot communication network as a stochastic process with random arrival times, which can be produced by irregular robot movements, wireless attenuation, and other environmental factors. Using this model, we provide and analyze a receding horizon control strategy to control the statistics of the information broadcast. The resulting strategy compels the robots to re-direct their communication resources to different neighbors according to the current propagation process to fulfill global broadcast requirements. Based on this method, we provide an approach to compute the expected time to broadcast the message to all nodes. Numerical examples are provided to illustrate the results.

翻译：本文的重点是以随机抵达时间作为多机器人通信网络信息传输模式,通过随机抵达时间,通过不规则机器人移动、无线衰减和其他环境因素生成。使用这个模式,我们提供并分析一个放弃的地平线控制战略,以控制信息广播的统计。由此产生的战略迫使机器人根据目前的传播程序将其通信资源重新引导给不同的邻居,以达到全球广播要求。根据这种方法,我们提供了一种方法来计算将信息传送到所有节点的预期时间。提供了数字示例,以说明结果。