  This paper addresses a synchronization problem that arises when a team of
aerial robots (ARs) need to communicate while performing assigned tasks in a
cooperative scenario. Each robot has a limited communication range and flies
within a previously assigned closed trajectory. When two robots are close
enough, a communication link may be established, allowing the robots to
exchange information. The goal is to schedule the flights such that the entire
system can be synchronized for maximum information exchange, that is, every
pair of neighbors always visit the feasible communication link at the same
time. We propose an algorithm for scheduling a team of robots in this scenario
and propose a robust framework in which the synchronization of a large team of
robots is assured. The approach allows us to design a fault-tolerant system
that can be used for multiple tasks such as surveillance, area exploration,
searching for targets in a hazardous environment, and assembly and structure
construction, to name a few.
