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It depends on the app that you are coding on the micro-ROS side. Of course, if the micro-ROS client tries to connect to the agent and then (after some tries) it desists, the board needs to be reset in order to connect to the agent.

In any case, you can code your application to loop until an agent is found. Even you can ping the agent in order to check the availability and open and close the session accordingly.

Check the reconnection example here: https://github.com/micro-ROS/micro_ros_arduino/blob/galactic/examples/micro-ros_reconnection_example/micro-ros_reconnection_example.ino

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