  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.
