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Maintaining inter-node connectivity is of a paramount concern in most applications of mobile sensor/actor networks because nodes have to report their data and coordinate their operations. Failure of a node may partition the inter-node network into disjoint segments, and may thus hinder data delivery and inter-node coordination. This paper presents a novel Resource Efficient Connectivity Restoration Algorithm (RECRA) that opts to repair severed connectivity while imposing minimal overhead on the nodes. To avoid overreacting to non-critical failure, RECRA identifies critical/non-critical nodes and only triggers the recovery when a critical node fails. The failure of a node is detected by its neighbors and a recovery procedure is executed based on their proximity, status (critical/non-critical), and transmission range.
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