This paper studies fundamental limitations of performance for distributed decision-making in robotic networks. The class of decision-making problems we consider encompasses a number of prototypical problems such as average-based consensus as well as distributed optimization, leader election, majority voting, MAX, MIN, and logical formulas. We first propose a formal model for distributed computation on robotic networks that is based on the concept of I/O automata and is inspired by the Computer Science literature on distributed computing clusters. Then, we present a number of bounds on time, message, and byte complexity, which we use to discuss the relative performance of a number of approaches for distributed decision-making. From a methodological standpoint, our work sheds light on the relation between the tools developed by the Computer Science and Controls communities on the topic of distributed algorithms.
在协作机器人的背景下，分布式态势感知对于支持机器人和人类代理团队中的集体智能至关重要，它可以用于个人和集体决策支持。这在与紧急救援和危机管理有关的应用中尤其重要。在操作任务期间，数据和知识由异构机器人和人类以不同的方式逐步收集。我们将其描述为\emph{Hastily Formed Knowledge Networks}（HFKNs）的创建。本文的重点是一个通用的分布式系统架构，支持创建HFKNs的机器人和人类的团队的规范和原型。收集的信息范围从低级传感器数据到高级语义知识，后者部分表示为RDF图。该框架包括一个同步协议和相关的算法，允许代理之间的数据和知识的自动分配和共享。这是通过代理之间共享的RDF图的分布式同步来完成的。SPARQL中指定的高级语义查询可以被机器人和人类用来从团队成员那里获取知识和数据内容。该系统的经验验证和所提出的算法的复杂性结果。此外，现场机器人的案例研究进行了描述，在一个合作的紧急救援情况下，同时使用完整的HFKN框架，使用几个无人机执行3D映射任务。
ED3R: Energy-Aware Distributed Disaster Detection via Cooperative Agents in Robotic Systems
Dept. of Informatics and Telecommunications, National and Kapodistrian University of Athens（雅典大学信息学与电信系）；Huawei Heisenberg Research Center (Munich)（华为海森堡研究中心（慕尼黑））
Distributed Adaptive Control: An ideal Cognitive Architecture candidate for managing a robotic recycling plant
Institute for Bioengineering of Catalonia (IBEC)（加泰罗尼亚生物工程研究所）；Barcelona Institute of Science and Technology (BIST)（巴塞罗那科学技术研究院）；Catalan Institution for Research and Advanced Studies (ICREA)（加泰罗尼亚高级研究学院）
Census-Based Population Autonomy For Distributed Robotic Teaming
Department of Mechanical Engineering, Massachusetts Institute of Technology（麻省理工学院机械工程系）；Woods Hole Oceanographic Institution（伍兹霍尔海洋研究所）；Sibley School of Mechanical and Aerospace Engineering, Cornell University（康奈尔大学Sibley机械与航空航天工程学院）
