Hsieh, M. AniKumar, R. VijayCowley, AnthonyTaylor, Camillo J2023-05-222023-05-222008-01-012008-02-14https://repository.upenn.edu/handle/20.500.14332/39843In this paper, we present an experimental study of strategies for maintaining end-to-end communication links for tasks such as surveillance, reconnaissance, and target search and identification, where team connectivity is required for situational awareness. Our main contributions are three fold: (a) We present the construction of a radio signal strength map that can be used to plan multi-robot tasks and also serve as useful perceptual information. We show how a nominal model of an urban environment obtained by aerial surveillance is used to generate strategies for exploration. (b) We present reactive controllers for communication link maintenance; and (c) we consider the differences between monitoring signal strength versus data throughput. Experimental results, obtained using our multi-robot testbed in three representative urban environments, are presented with each of our main contributions.GRASPArticle