Maintaining Connectivity in Mobile Robot Networks
Maintaining Connectivity in Mobile Robot Networks
复制标题
保持移动机器人网络的连接
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
George Pappas
中科院分区：
文献类型：
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作者：
Nathan Michael;M. Zavlanos;Vijay R. Kumar;George Pappas
虽然近年来在动态网络图的估计和控制研究方面取得了重大进展，但对分布式机器人团队的实验验证和验证这些算法的关注有限。在这项工作中，我们进行了实验研究的一个非平凡的分布式连接控制算法的七个非完整机器人的团队，以及在模拟。该算法的实现是完全分散和异步的，假设每个机器人只能访问其姿势和机器人总数的知识。所有其他必要的信息通过与相邻机器人的消息传递来确定。我们表明，这种算法，需要复杂的代理间的通信和协调，是可行的，以及非常成功的，使网络的机器人，以适应干扰，同时保持连接。
While there has been significant progress in recent years in the study of estimation and control of dynamic network graphs, limited attention has been paid to the experimental validation and verification of such algorithms on distributed teams of robots. In this work we conduct an experimental study of a non-trivial distributed connectivity control algorithm on a team of seven nonholonomic robots as well as in simulation. The implementation of the algorithm is completely decentralized and asynchronous, assuming that each robot only has access to its pose and knowledge of the total number of robots. All other necessary information is determined via message passing with neighboring robots. We show that such algorithms, requiring complex inter-agent communication and coordination, are feasible as well as highly successful in enabling a network of robots to adapt to disturbances while preserving connectivity.