  In the context of constraint-driven control of multi-robot systems, in this
paper, we propose an optimization-based framework that is able to ensure
resilience and energy-awareness of teams of robots. The approach is based on a
novel, frame-theoretic, measure of resilience which allows us to analyze and
enforce resilient behaviors of multi-robot systems. The properties of
resilience and energy-awareness are encoded as constraints of a convex
optimization program which is used to synthesize the robot control inputs. This
allows for the combination of such properties with the execution of coordinated
tasks to achieve resilient and energy-aware robot operations. The effectiveness
of the proposed method is illustrated in a simulated scenario where a team of
robots is deployed to execute two tasks subject to energy and resilience
constraints.
