Multi-Robot Persistent Surveillance With Connectivity Constraints
Multi-Robot Persistent Surveillance With Connectivity Constraints
复制标题
具有连接限制的多机器人持续监控
作者：
Jurgen Scherer;B. Rinner
移动机器人，特别是无人驾驶飞行器(UAV)，在监视和灾难应对场景中越来越引起人们的兴趣。我们考虑了具有连通性约束的多机器人持续监视问题，其中机器人必须定期访问传感位置并保持与基站的多跳连接。我们形式化地定义了几个与连通性约束下的多机器人持久监视密切相关的问题实例，即连通性约束多机器人持久监视(CMPS)、连通性约束多机器人可达性(CMR)和具有中继丢弃的连通性约束多机器人可达性(CMR)，并证明了它们在一般图上都是NP难的。本文介绍了三种不同规划水平的启发式算法，并将它们与一种树遍历法相结合，用于非凸网格图的划分(CMPS WITH树遍历法，CMPSTT)。在仿真研究中，我们表明，如果机器人的数量大于到达所有传感位置所需的最小机器人数量，则需要预先优化参数的短视野贪婪方法的性能优于需要遍历所有传感位置的全视野方法。所需的最小数量是建立到距基站最远的感测位置的中继链所需的机器人数量。此外，我们还证明了在一定数量的机器人上进行区域划分和应用树遍历方法可以获得与未划分情况相似的性能，但所需的优化时间更少。
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where robots have to visit sensing locations periodically and maintain a multi-hop connection to a base station. We formally define several problem instances closely related to multi-robot persistent surveillance with connectivity constraints, i.e. connectivity-constrained multi-robot persistent surveillance (CMPS), connectivity-constrained multi-robot reachability (CMR), and connectivity-constrained multi-robot reachability with relay dropping (CMRD), and show that they are all NP-hard on general graphs. We introduce three heuristics with different planning horizons for convex grid graphs and combine them with a tree traversal approach, which can be applied to a partitioning of non-convex grid graphs (CMPS with tree traversal, CMPSTT). In simulation studies we show that a short horizon greedy approach, which requires parameters to be optimized beforehand, can outperform a full horizon approach, which requires a tour through all sensing locations, if the number of robots is larger than the minimum number of robots required to reach all sensing locations. The minimum number required is the number of robots necessary for building a relay chain to the farthest sensing location from the base station. Furthermore, we show that partitioning the area and applying the tree traversal approach can achieve a similar performance to the unpartitioned case up to a certain number of robots but requires less optimization time.
多机器人在线构建通讯地图
DOI：
10.1109/icra.2017.7989300
发表时间：
2017
期刊：
IEEE International Conference on Robotics and Automation (ICRA
影响因子：
--
作者：
Banfi, Jacopo;Li, Alberto Quattrini;Basilico, Nicola;Rekleitis, Ioannis;Amigoni, Francesco
通讯作者：
Amigoni, Francesco