未知无界环境下的异步网络形成
Asynchronous Network Formation in Unknown Unbounded Environments
摘要：
本文研究了移动多机器人系统的在线网络形成问题。考虑一组机器人在一个大的开放区域中操作，具有有限的通信范围。其中一个机器人有一条信息，必须传播给所有其他机器人。机器人应该采取什么策略来尽快将信息传播给其他机器人？机器人的初始位置彼此未知，因此必须以在线方式解决问题。对于这个问题，我们提出了一个算法，其竞争比为$O(H \cdot \max\{M,\sqrt{M H}\})$的任意机器人部署，其中$M$是最大的边缘长度在欧几里德最小生成树的初始机器人配置和$H$是树的高度。我们还研究了机器人初始位置均匀随机选择的情况，并将其改进为$O(M)$。最后，我们提出了仿真结果，以验证在更大范围内的性能，并证明我们的算法使用三个机器人在现场实验。
英文摘要：
In this paper, we study the Online Network Formation Problem (ONFP) for a mobile multi-robot system. Consider a group of robots with a bounded communication range operating in a large open area. One of the robots has a piece of information which has to be propagated to all other robots. What strategy should the robots pursue to disseminate the information to the rest of the robots as quickly as possible? The initial locations of the robots are unknown to each other, therefore the problem must be solved in an online fashion. For this problem, we present an algorithm whose competitive ratio is $O(H \cdot \max\{M,\sqrt{M H}\})$ for arbitrary robot deployments, where $M$ is the largest edge length in the Euclidean minimum spanning tree on the initial robot configuration and $H$ is the height of the tree. We also study the case when the robot initial positions are chosen uniformly at random and improve the ratio to $O(M)$. Finally, we present simulation results to validate the performance in larger scales and demonstrate our algorithm using three robots in a field experiment.
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