DisCoF $^+$：分布式系统中具有灵活解耦的异步DisCoF协同寻路算法
DisCoF$^+$: Asynchronous DisCoF with Flexible Decoupling for Cooperative Pathfinding in Distributed Systems
摘要：
在我们以前的工作中，我们概述了一种方法，命名为DiscoF，在有限的传感和通信范围的分布式系统中的合作寻路。与以前的作品合作寻路与完整性的保证，这往往假设访问全球信息，DiscoF不做这个假设。这意味着在DisCoF中的任何给定时间，机器人可能都不知道彼此，这在分布式系统中经常发生。因此，DisCoF代表了一种固有的在线方法，因为协调只能在彼此的传感和通信范围内的机器人之间以机会主义的方式实现。然而，在DiscoF中有一些假设，以促进正式的分析，必须删除与分布式多机器人平台。在本文中，我们提出了DiscoF $^+$，它扩展了DiscoF，使异步解决方案，以及提供灵活的机器人之间的解耦性能提高。我们还将DiscoF的形式结果推广到DiscoF $^+$ .此外，我们评估我们的实现的DiscoF $^+$，并演示了它在分布式多机器人环境中运行的模拟。最后，我们比较了DiscoF $^+$与DiscoF的规划质量和规划性能。
英文摘要：
In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees, which often assume the access to global information, DisCoF does not make this assumption. The implication is that at any given time in DisCoF, the robots may not all be aware of each other, which is often the case in distributed systems. As a result, DisCoF represents an inherently online approach since coordination can only be realized in an opportunistic manner between robots that are within each other's sensing and communication range. However, there are a few assumptions made in DisCoF to facilitate a formal analysis, which must be removed to work with distributed multi-robot platforms. In this paper, we present DisCoF$^+$, which extends DisCoF by enabling an asynchronous solution, as well as providing flexible decoupling between robots for performance improvement. We also extend the formal results of DisCoF to DisCoF$^+$. Furthermore, we evaluate our implementation of DisCoF$^+$ and demonstrate a simulation of it running in a distributed multi-robot environment. Finally, we compare DisCoF$^+$ with DisCoF in terms of plan quality and planning performance.
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