Simultaneous intermittent communication control and path optimization in networks of mobile robots
Simultaneous intermittent communication control and path optimization in networks of mobile robots
复制标题
移动机器人网络中的同步间歇通信控制和路径优化
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
M. Zavlanos
中科院分区：
文献类型：
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作者：
Y. Kantaros;M. Zavlanos
在本文中，我们提出了一种用于移动机器人网络的间歇通信框架。具体来说，我们考虑机器人沿着连接的移动图的边缘移动，并且只有当它们在该图的节点处相遇时才进行通信，从而产生动态通信网络。我们提出的分布式控制器可以同时保证网络的间歇性连接和路径优化。我们证明间歇性连接需求可以用全局线性时间逻辑（LTL）公式封装。然后我们将其近似分解为局部LTL表达式，然后将其分配给机器人。为了避免由于这种近似分解而可能发生的机器人冲突行为，我们开发了一种分布式冲突解决方案，该方案基于分配的局部LTL表达式为每个机器人生成无冲突的离散运动计划，其组成满足全局LTL公式。通过适当地在生成的运动计划的执行中引入延迟，我们还表明所建议的控制器可以异步执行。
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that graph giving rise to a dynamic communication network. Our proposed distributed controllers ensure intermittent connectivity of the network and path optimization, simultaneously. We show that the intermittent connectivity requirement can be encapsulated by a global Linear Temporal Logic (LTL) formula. Then we approximately decompose it into local LTL expressions which are then assigned to the robots. To avoid conflicting robot behaviors that can occur due to this approximate decomposition, we develop a distributed conflict resolution scheme that generates non-conflicting discrete motion plans for every robot, based on the assigned local LTL expressions, whose composition satisfies the global LTL formula. By appropriately introducing delays in the execution of the generated motion plans we also show that the proposed controllers can be executed asynchronously.