使用交替方向乘子法的最优分布式多机器人通信感知轨迹规划
Optimal Distributed Multi-Robot Communication-Aware Trajectory Planning using Alternating Direction Method of Multipliers
AI总结：
针对多机器人通信感知轨迹规划问题，提出基于预算交易分离通信约束并用一致性ADMM分布式求解的最优规划算法，且在巡检仿真中验证。
摘要：
本文提出了一种用于多机器人系统的分布式、最优、通信感知轨迹规划算法。在先前工作的基础上，本文采用一个通用优化框架来处理多机器人通信感知轨迹规划问题，该框架对机器人位置变化施加线性约束，以确保通信性能和避碰。在本文中，优化问题通过一种经济学方法分离通信性能约束而得到分布式求解。具体而言，当前通信预算被平均分配给各机器人，并允许机器人之间相互交易其部分预算。分离后的优化问题随后使用一致性交替方向乘子法求解。该方法在一个巡检任务问题中通过仿真得到了验证。
英文摘要：
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general optimisation framework that imposes linear constraints on changes in robot positions to ensure communication performance and collision avoidance. In this paper, the optimisation problem is solved distributively by separating the communication performance constraint through an economic approach. Here, the current communication budget is distributed equally among the robots, and the robots are allowed to trade parts of their budgets with each other. The separated optimisation problem is then solved using the consensus alternating direction method of multipliers. The method was verified through simulation in an inspection task problem.
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。
