  In this paper, we propose an intermittent communication framework for mobile
robot networks. Specifically, we consider robots that move along the edges of a
connected mobility graph and communicate only when they meet at the nodes of
that graph giving rise to a dynamic communication network. Our proposed
distributed controllers ensure intermittent connectivity of the network and
path optimization, simultaneously. We show that the intermittent connectivity
requirement can be encapsulated by a global Linear Temporal Logic (LTL)
formula. Then we approximately decompose it into local LTL expressions which
are then assigned to the robots. To avoid conflicting robot behaviors that can
occur due to this approximate decomposition, we develop a distributed conflict
resolution scheme that generates non-conflicting discrete motion plans for
every robot, based on the assigned local LTL expressions, whose composition
satisfies the global LTL formula. By appropriately introducing delays in the
execution of the generated motion plans we also show that the proposed
controllers can be executed asynchronously.
