I. Introduction
The field of multirobot systems has seen extensive growth in the past years, as different applications have been explored, such as surveillance [1], [2], search, and rescue [3], handling hazardous waste [4], coverage in mobile sensor networks [5], exploration, and mapping [6] just to name a few. Although these applications highlight several merits of multirobot systems, there is still a need to understand how to carry out such missions for an extended period of time in a robust and reliable manner.