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Maintaining connectivity among a group of autonomous agents exploring an area is very important, as it promotes cooperation between the agents and also helps message exchanges which are very critical for their mission. Creating an underlying Ad-hoc Mobile Router Network (AMRoNet) using simple robotic routers is an approach that facilitates communication between the agents without restricting their movements. The authors address the following question in their paper: How to create an AMRoNet with local information and with minimum number of routers? They propose two new localized and distributed algorithms: agent-assisted router deployment and a self-spreading for creating AMRoNet.
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