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arXiv 1905.04771cs.RO
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机器人群的容错连通性维护

Failure-Tolerant Connectivity Maintenance for Robot Swarms

Polytechnique Montréal（蒙特利尔高等理工学院）

Vivek Shankar Varadharajan, Bram Adams, Giovanni Beltrame

备注：
20 pages, 7 figures, Presented at ARMS Workshop at AAMAS
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摘要：

连通性维护在实现机器人群体之间的期望的全局行为中起着关键作用。然而，在现实环境中的连通性维护受到缺乏计算资源，低通信带宽，机器人故障和不稳定的链接。在本文中，我们提出了一种新的分散式连接保持算法，可以部署在其他行为的顶部，以执行连接约束。该算法需要一组目标，同时保持机器人之间的冗余链路的数量最少，以保证带宽和可靠性的目标。然后机器人逐步建立和维护具有指定数量链路的通信骨干。我们实证研究的算法的性能，分析其收敛时间，以及注入骨干机器人的故障的鲁棒性。我们的研究结果在统计上表明，该算法的能力，以保持所需的连接约束，并达到高达70%的个人机器人故障的通信骨干的目标。

英文摘要：

Connectivity maintenance plays a key role in achieving a desired global behavior among a swarm of robots. However, connectivity maintenance in realistic environments is hampered by lack of computation resources, low communication bandwidth, robot failures, and unstable links. In this paper, we propose a novel decentralized connectivity-preserving algorithm that can be deployed on top of other behaviors to enforce connectivity constraints. The algorithm takes a set of targets to be reached while keeping a minimum number of redundant links between robots, with the goal of guaranteeing bandwidth and reliability. Robots then incrementally build and maintain a communication backbone with the specified number of links. We empirically study the performance of the algorithm, analyzing its time to convergence, as well as robustness to faults injected into the backbone robots. Our results statistically demonstrate the algorithm's ability to preserve the desired connectivity constraints and to reach the targets with up to 70 percent of individual robot failures in the communication backbone.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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