面向鲁棒通信维护的多机器人系统快速双连通性恢复
Fast Biconnectivity Restoration in Multi-Robot Systems for Robust Communication Maintenance
AI总结：
针对多机器人在故障下的通信拓扑修复需求，本文研究 FBR 问题，给出 QCP 最优表述并提出基于图论的近似算法，实验表明其接近最优且显著优于现有方法。
摘要：
维持鲁棒的通信网络，对于共同执行优化任务的多机器人团队的成功具有重要作用。鲁棒多机器人系统的一个关键特征，是在机器人发生故障时能够自行修复通信拓扑。本文聚焦快速双连通性恢复（FBR）问题，其目标是尽快修复一个连通网络，使其成为双连通网络；所谓双连通网络，是指移除任一节点都不会导致断开的通信拓扑。我们建立了 FBR 问题的二次约束规划（QCP）表述，为最优求解该问题提供了途径。我们还基于图论提出了一种 FBR 问题的近似算法。通过实证研究，我们证明所提出的近似算法性能接近最优，同时显著优于现有解决方案。
英文摘要：
Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust multi-robot system is the ability to repair the communication topology itself in the case of robot failure. In this paper, we focus on the Fast Biconnectivity Restoration (FBR) problem, which aims to repair a connected network to make it biconnected as fast as possible, where a biconnected network is a communication topology that cannot be disconnected by removing one node. We develop a Quadratically Constrained Program (QCP) formulation of the FBR problem, which provides a way to optimally solve the problem. We also propose an approximation algorithm for the FBR problem based on graph theory. By conducting empirical studies, we demonstrate that our proposed approximation algorithm performs close to the optimal while significantly outperforming the existing solutions.
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。
