Robots and humans reconvening

When communication fails, our ability to reconvene depends on previous planning. Rally points are often used as a way of establishing a communication hub in the event of an emergency. But mobile ad hoc networks give us new capabilities which may change the way we think about rally points. For not only is location important, but also mobility and the available connectivity. Considering all these factors, alternative heuristics are discussed to minimize the time it takes to reconvene robots and humans after a loss of communication. Certain situations favor the use of robots to facilitate communication, by forming an ad hoc bridge between isolated areas, or by acting as couriers. If software-defined radios are available, then strategies can be developed that periodically help recalibrate paths toward a rally point. The work has implications for search and rescue, robot design, and emergency response.