Decentralized Connectivity Maintenance for Multi-robot Systems Under Motion and Sensing Uncertainties
Stanford University（斯坦福大学）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Indian Institute of Technology Bombay（印度理工学院孟买分校）；Massachusetts Institute of Technology（麻省理工学院）
Akshay Shetty, Timmy Hussain, Grace Gao
备注：
Accepted in NAVIGATION: Journal of The Institute of Navigation
Communication connectivity is desirable for safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in recent literature, the majority of these works do not account for robot motion and sensing uncertainties. These uncertainties are inherent in practical robots and result in robots deviating from their desired positions which could potentially result in a loss of connectivity. In this paper we present a Decentralized Connectivity Maintenance algorithm accounting for robot motion and sensing Uncertainties (DCMU). We first propose a novel weighted graph definition for the multi-robot system that accounts for the aforementioned uncertainties along with realistic connectivity constraints such as line-of-sight connectivity and collision avoidance. Next we design a decentralized gradient-based controller for connectivity maintenance where we derive the gradients of our weighted graph edge weights required for computing the control. Finally, we perform multiple simulations to validate the connectivity maintenance performance of our DCMU algorithm under robot motion and sensing uncertainties and show an improvement compared to previous work.
Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems
Carnegie Mellon University（卡内基梅隆大学）
在许多情况下，多机器人系统需要使用不同的控制器同时执行多个行为，并实时的执行行为序列，我们称之为\textit{behavior mixing}。当整个机器人团队的不同子组改变其控制器以共同完成给定任务时，行为混合就完成了，同时在一个连接的通信图中保持子组内和子组之间的连接性。在本文中，我们提出了一个可证明的最小连接维护框架，以确保子组和整个机器人团队始终保持连接，同时为行为混合提供最高的自由度。特别是，我们提出了一个实时分布式的最小连接约束生成树（MCCST）算法来选择最小的机器人间的连接约束，保持子群和全局连接，是由原始控制器\textit{least likely to be violated}。利用针对激活的连接性约束和冲突避免所采用的安全性和连接性屏障证书，行为混合控制器因此从原始控制器最小地修改。我们通过模拟多达100个具有多种行为的机器人来展示我们方法的有效性和可扩展性。
Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；CNRS（法国国家科学研究中心）；Irisa（法国国家信息与自动化研究所雷恩布列塔尼大西洋研究中心）；Inria Rennes Bretagne Atlantique（法国国家信息与自动化研究所雷恩布列塔尼大西洋研究中心）；Max Planck Institute for Biological Cybernetics（马克斯·普朗克生物控制论研究所）；LAAS（LAAS分析及系统架构实验室）；Univ de Toulouse（图卢兹大学）
Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance
A. Franchi CNRS, LAAS, 7 Avenue du Colonel Roche, F-31400 Toulouse, France. Univ de Toulouse, LAAS, F-31400 Toulouse, France P. Stegagno Max Planck Institute for Biological Cybernetics, Spemanstra e 38, 72076 T\"ubingen, Germany G. Oriolo Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\`a di Roma, Via Ariosto 25, 00185 Roma, Italy
Angle-based Localization and Rigidity Maintenance Control for Multi-Robot Networks
Centre for Automation and Robotics (CSIC-UPM)（自动化与机器人中心（CSIC-UPM））；Artificial Intelligence and Robotics Laboratory (UDESA) and CONICET（人工智能与机器人实验室（UDESA）和CONICET）
Decentralized Rendezvous of Nonholonomic Robots with Sensing and Connectivity Constraints
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, USA（机械与航空航天工程系，佛罗里达大学，盖恩斯维尔，美国）；Munitions Directorate, Air Force Research Laboratory, Eglin AFB, FL 32542, USA（弹药局，空军研究实验室，埃格林空军基地，佛罗里达州，32542，美国）；Department of Electrical and Computer Engineering, University of Florida, Gainesville, USA（电气与计算机工程系，佛罗里达大学，盖恩斯维尔，美国）
C$^2$-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration
School of Intelligence Science and Engineering, Harbin Institute of Technology, Shenzhen, Guangdong, China（哈尔滨工业大学深圳研究院）；Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）机器人与自主系统方向）；Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China（南方科技大学机械与能源工程系）
Realm: Real-Time Line-of-Sight Maintenance in Multi-Robot Navigation with Unknown Obstacles
School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电气与电子工程学院）；Institute for Infocomm Research (I2R), Agency for Science, Technology and Research (A*STAR)（新加坡科技研究局信息通信研究所）；School of Automation, Chongqing University（重庆大学自动化学院）；College of Computer Science, Sichuan University（四川大学计算机学院）
