A Distributed Biconnectivity Check

For many distributed autonomous robotic systems, it is important to maintain communication connectivity among the robots. That is, each robot must be able to communicate with each other robot, perhaps through a series of other robots. Ideally, this property should be robust to the removal of any single robot from the system. In this work, we define a property of a team’s communication graph that ensures this property, called biconnectivity. We present a distributed algorithm to check if a team of robots is biconnected, prove its correctness, and analyze it theoretically.