利用机会通信实现大规模异构协作
Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications
AI总结：
本文提出 MOCHA 框架，利用 gossip 机会通信支持无持续连接条件下的大规模异构多机器人协作，并通过真实实验、仿真可扩展性评估及通信感知高空 UAV 规划集成验证其有效性。
摘要：
在大规模环境中，由规模有限的机器人团队且不依赖外部基础设施开展多机器人协作颇具挑战性，因为支持复杂任务所需的软件框架必须对不可靠且间歇性的通信链路具有鲁棒性。在本工作中，我们提出 MOCHA（Multi-robot Opportunistic Communication for Heterogeneous Collaboration，面向异构协作的多机器人机会通信），这是一个弹性多机器人协作框架，能够在缺乏持续通信的情况下实现大规模探索。MOCHA 基于 gossip 通信协议，允许机器人在通信链路可用时随时进行机会式交互，并以点对点方式传播信息。我们通过使用商用现货（COTS）通信硬件的真实世界实验展示了 MOCHA 的性能。我们进一步在仿真中探索系统的可扩展性，随着机器人数量增加和通信范围变化评估所提方法的性能。最后，我们展示 MOCHA 如何与自主机器人的规划技术栈紧密集成。我们展示了一种通信感知规划算法，用于高空空中机器人执行协作任务，同时最大化与地面机器人共享的信息量。MOCHA 和高空 UAV 规划系统的源代码已开源：http://github.com/KumarRobotics/MOCHA，http://github.com/KumarRobotics/air_router。
英文摘要：
Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support complex tasks must be robust to unreliable and intermittent communication links. In this work, we present MOCHA (Multi-robot Opportunistic Communication for Heterogeneous Collaboration), a framework for resilient multi-robot collaboration that enables large-scale exploration in the absence of continuous communications. MOCHA is based on a gossip communication protocol that allows robots to interact opportunistically whenever communication links are available, propagating information on a peer-to-peer basis. We demonstrate the performance of MOCHA through real-world experiments with commercial-off-the-shelf (COTS) communication hardware. We further explore the system's scalability in simulation, evaluating the performance of our approach as the number of robots increases and communication ranges vary. Finally, we demonstrate how MOCHA can be tightly integrated with the planning stack of autonomous robots. We show a communication-aware planning algorithm for a high-altitude aerial robot executing a collaborative task while maximizing the amount of information shared with ground robots. The source code for MOCHA and the high-altitude UAV planning system is available open source: http://github.com/KumarRobotics/MOCHA, http://github.com/KumarRobotics/air_router.
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。
