机器人网络的流言覆盖控制：划分空间上的动力系统
Gossip Coverage Control for Robotic Networks: Dynamical Systems on the Space of Partitions
摘要：
未来的应用在环境监测，提供服务和货物运输的激励研究的自主移动代理组的部署和划分任务。这些任务是通过最近的覆盖算法来实现的，该算法基于Lloyd的经典方法。然而，这些算法依赖于对通信网络的关键要求：信息在所有代理之间同步交换，有时需要长距离通信。这项工作提出了新的覆盖算法，只需要八卦通信，即，异步、成对和可能不可靠的通信。可以确定性地或随机地选择在任何给定时间通信的机器人对。一个关键的创新思想是将机器人部署和环境划分的覆盖算法描述为分区空间上的动力系统。换句话说，我们研究分配给每个代理的区域的演变，而不是代理位置的演变。所提出的八卦算法收敛到质心Voronoi分区在温和的技术条件下。
英文摘要：
Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage algorithms, based upon the classic methods by Lloyd. These algorithms however rely upon critical requirements on the communication network: information is exchanged synchronously among all agents and long-range communication is sometimes required. This work proposes novel coverage algorithms that require only gossip communication, i.e., asynchronous, pairwise, and possibly unreliable communication. Which robot pair communicates at any given time may be selected deterministically or randomly. A key innovative idea is describing coverage algorithms for robot deployment and environment partitioning as dynamical systems on a space of partitions. In other words, we study the evolution of the regions assigned to each agent rather than the evolution of the agents' positions. The proposed gossip algorithms are shown to converge to centroidal Voronoi partitions under mild technical conditions.
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