  In robotics, data acquisition often plays a key part in unknown environment
exploration. For example, storing information about the topography of the
explored terrain or the natural dangers in the environment can inform the
decision-making process of the robots. Therefore, it is crucial to store these
data safely and to make it available quickly to the operators of the robotic
system. In a decentralized system like a swarm of robots, this entails several
challenges. To address them, we propose RASS, a decentralized risk-aware swarm
storage and routing mechanism, which relies exclusively on local information
sharing between neighbours to establish storage and routing fitness. We test
our system through thorough experiments in a physics-based simulator and test
its real-world applicability with physical experiments. We obtain convincing
reliability, routing speeds, and swarm storage capacity results.
