We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a $1D$ cycle graph that is traversed by the communicating robots, and we discuss intermittent communication strategies so that each task location is periodically visited, with a worst--case revisiting time. Robots move forward and backward along the cycle graph, exchanging data with their previous and next neighbors when they meet, and updating their region boundaries. Asymptotically, each robot is in charge of a region of the cycle graph, depending on its capabilities. The method is distributed, and robots only exchange data when they meet.

翻译：我们考虑一个协作任务服务的场景，该场景由一组具有不同最大速度和通信半径的异构机器人组成，负责维持网络的间歇性连接。我们将任务位置抽象为一条由通信机器人遍历的一维循环图，并讨论间歇性通信策略，使得每个任务位置被周期性访问，且具有最坏情况下的重访时间。机器人沿循环图前后移动，在相遇时与相邻的前后机器人交换数据，并更新其区域边界。渐近地，每个机器人根据自身能力负责循环图上的一个区域。该方法采用分布式架构，机器人仅在相遇时交换数据。