  Efficient networking of many-robot systems is considered one of the grand
challenges of robotics. In this article, we address the problem of achieving
resilient, dynamic interconnection topologies in multi-robot systems. In
scenarios in which the overall network topology is constantly changing, we aim
at avoiding the onset of single points of failure, particularly situations in
which the failure of a single robot causes the loss of connectivity for the
overall network. We propose a method based on the combination of multiple
control objectives and we introduce an online distributed optimization strategy
that computes the optimal choice of control parameters for each robot. This
ensures that the connectivity of the multi-robot system is not only preserved
but also made more resilient to failures, as the network topology evolves. We
provide simulation results, as well as experiments with real robots to validate
theoretical findings and demonstrate the portability to robotic hardware.
