  This paper focuses on the broadcast of information on robot networks with
stochastic network interconnection topologies. Problematic communication
networks are almost unavoidable in areas where we wish to deploy multi-robotic
systems, usually due to a lack of environmental consistency, accessibility, and
structure. We tackle this problem by modeling the broadcast of information in a
multi-robot communication network as a stochastic process with random arrival
times, which can be produced by irregular robot movements, wireless
attenuation, and other environmental factors. Using this model, we provide and
analyze a receding horizon control strategy to control the statistics of the
information broadcast. The resulting strategy compels the robots to re-direct
their communication resources to different neighbors according to the current
propagation process to fulfill global broadcast requirements. Based on this
method, we provide an approach to compute the expected time to broadcast the
message to all nodes. Numerical examples are provided to illustrate the
results.
