A Survey on Multi-Robot Coordination in Electromagnetic Adversarial Environment: Challenges and Techniques

Wireless communications and networking are playing an important role in coordination and cooperation of multi-robot systems (MRS). However, it is challenging to keep a reliable and stable wireless connection in practical applications. Especially, robots acting in electromagnetic adversarial (EA) environments may encounter more serious situations including scarce spectrum, active interference, adversarial competition, etc. In this survey, we firstly analyze the challenges faced by MRS in EA environments, and provide a categorization according to the "sense-decide-act" robot control procedure. Secondly, enabling techniques for each challenge are introduced. Finally, typical robotics software architectures are introduced, as frameworks for efficient arrangement of the above mentioned enabling techniques.