The synchronization problem for information exchange between aerial robots under communication constraints
The synchronization problem for information exchange between aerial robots under communication constraints
复制标题
通信约束下空中机器人间信息交换的同步问题
DOI：
10.1109/icra.2015.7139843
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
A. Ollero
中科院分区：
文献类型：
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作者：
J. Díaz;L. Caraballo;M. Lopez;S. Bereg;Iván Maza;A. Ollero
本文讨论了一个同步问题，出现时，一队空中机器人（AR）需要进行通信，同时在合作的情况下执行指定的任务。每个机器人都有一个有限的通信范围，并在预先分配的封闭路径内飞行。当两个机器人足够接近时，可以建立通信链路，允许机器人共享信息。目标是调度航班，使得整个系统可以同步以进行最大的信息交换，也就是说，每对邻居同时处于可行的通信链路上。我们提出了一种算法，在这种情况下，调度一个团队的机器人，并提出了一个强大的框架，一个大型的机器人团队的同步是有保证的。该方法使我们能够设计一个容错系统，可用于多个任务，如监视，区域勘探，在危险的环境中搜索目标，装配和结构建设，仅举几例。
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a previously assigned closed path. When two robots are close enough, a communication link may be established allowing the robots to share information. The goal is to schedule the flights such that the entire system can be synchronized for maximum information exchange, that is, every pair of neighbors are on the feasible communication link at the same time. We propose an algorithm for scheduling a team of robots in this scenario and propose a robust framework where the synchronization of a large team of robots is assured. The approach allows us to design a fault-tolerant system that can be used for multiple tasks such as surveillance, area exploration, searching for targets in a hazardous environment, and assembly and structure construction, to name a few.