https://plancherb1.github.io/tags/distributed-robot-systems/ Recent content in Distributed Robot Systems on Brian Plancher Hugo -- gohugo.io en-us © {year} Brian Plancher Thu, 09 Apr 2026 00:00:00 +0000 https://plancherb1.github.io/publication/phireman/ Thu, 09 Apr 2026 00:00:00 +0000 https://plancherb1.github.io/publication/phireman/ This paper introduces and formalizes the problem of Robust Task Networking Under Attrition (RTNUA), which extends connectivity maintenance in multi-robot systems to explicitly address proactive redundancy and attrition recovery. We then introduce Physics-Informed Robust Employment of Multi-Agent Networks (ΦIREMAN), a topological algorithm leveraging physics-inspired potential fields to solve this problem. In our evaluations, ΦIREMAN consistently outperforms baselines, and is able to maintain greater than 99.9% task uptime despite substantial attrition in simulations with up to 100 tasks and 500 drones, demonstrating both effectiveness and scalability.