This paper focuses on the robustness of our proposed deadlock avoidance method among multiple robots and investigates it in the large-scale structure construction task through a comparison of the following communication failure cases: (ⅰ) no communication failure which enables the robots to acquire the mostly perfect global information on the location of other robots, (ⅱ) the communication failure between the robots and (constructed) modules, which restricts robots to acquire the partial global information, and (ⅲ) the communication failure among the robots and between robots and modules, which restricts the robots to only acquire the local information. Intensive simulations on constructing Space Solar Power Satellite (SSPS) by multiple robots have revealed the following implications: (1) our proposed method enables the robots to complete given tasks {i.e., the completion rate is 100%) even if the communication failures occur; (2) HLFE+ASFB method is robust to the shape of SSPS; (3) the completion speed depends on the information sharing degree that indicates how the robots acquire the perfect global information; and (4) when communication failure among robots and with modules occurs, it rather takes time when we increase the number of robots.
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