  We propose a method to maintain high resource in a networked heterogeneous
multi-robot system to resource failures. In our model, resources such as and
computation are available on robots. The robots engaged in a joint task using
these pooled resources. In our model, a resource on a particular robot becomes
unavailable e.g., a sensor ceases to function due to a failure), the system
reconfigures so that the robot continues to have to this resource by
communicating with other robots. Specifically, we consider the problem of
selecting edges to be in the system's communication graph after a resource has
occurred. We define a metric that allows us to characterize the quality of the
resource distribution in the represented by the communication graph. Upon a
resource becoming unavailable due to failure, we reconfigure network so that
the resource distribution is brought as to the ideal resource distribution as
possible without a big change in the communication cost. Our approach uses
integer semi-definite programming to achieve this goal. We also provide a
simulated annealing method to compute a formation that satisfies the
inter-robot distances imposed by the topology, along with other constraints.
Our method can compute a communication topology, spatial formation, and
formation change motion planning in a few seconds. We validate our method in
simulation and real-robot experiments with a team of seven quadrotors.
