Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage
Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage
复制标题
自适应机器人间信任，实现稳健的多机器人传感器覆盖
DOI：
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复制
发表时间：
2013
期刊：
影响因子：
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通讯作者：
M. Schwager
中科院分区：
文献类型：
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作者：
Alyssa Pierson;M. Schwager
本文提出了一种新的方法来表征多机器人系统中机器人的信任，并在线适应机器人的相对性能。机器人必须在环境上散布以提供灵敏度覆盖范围。传感器在环境中负责较大的区域，而质量较低的机器人则使用Lyapunov型的型区域减少了区域。事先已知传感器质量。
This paper proposes a new approach to both characterize inter-robot trust in multi-robot systems and adapt trust online in response to the relative performance of the robots. The approach is applied to a multi-robot coverage control scenario, in which a team of robots must spread out over an environment to provide sensing coverage. A decentralized algorithm is designed to control the positions of the robots, while simultaneously adapting their trust weightings. Robots with higher quality sensors take charge of a larger region in the environment, while robots with lower quality sensors have their regions reduced. Using a Lyapunov-type proof, it is proven that the robots converge to locally optimal positions for sensing that are as good as if the robots’ sensor qualities were known beforehand. The algorithm is demonstrated in Matlab simulations.