DORA：面向部分连接机器人团队的散度导向数据中继算法
DORA: Divergence-Oriented Data-Relay Algorithm for Partially Connected Robot Teams
- University of Pennsylvania（宾夕法尼亚大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对部分连接异构无人机团队的通信与探索权衡问题，提出散度导向数据中继算法DORA，通过量化信息价值驱动通信，将MRT解析延迟最多降低74.8%。
AI中文摘要：
部署用于搜索和监视任务的无人机（UAV）团队经常以部分连接的网络运行，迫使每个机器人在探索环境与向队友中继信息之间进行权衡。当机器人具有语义异质性时，这种权衡尤为突出：一个对做出观测的机器人看似无信息量的观测，可能对具有互补检测能力的队友至关重要。在这项工作中，我们将该场景形式化为异构任务感知覆盖（HMAC）问题，该问题在间歇性通信下，将区域的多机器人完全覆盖与受能力约束的任务相关目标（MRT）发现相结合。随后，我们提出了DORA，一种散度导向的数据中继算法，该算法由信息对团队的价值驱动通信，而非仅由发现驱动。DORA量化了机器人当前信息状态与其对每个队友知识估计之间的任务相关散度，捕捉了任务相关性、发现新颖性、传感器不确定性以及信息年龄。我们在四个具有不同物体密度和空间结构的环境中进行了仿真评估，并在物理无人机平台上进行了验证。结果表明，与传统基于时间的通信调度方法相比，DORA将MRT解析延迟最多提高了74.8%。
英文摘要：
Teams of unmanned aerial vehicles (UAVs) deployed for search and monitoring missions frequently operate as partially connected networks, forcing each robot to trade off exploring the environment against relaying information to teammates. This tradeoff is especially acute when robots are semantically heterogeneous: an observation that appears uninformative to the robot that made it may be critical to a teammate with complementary detection capabilities. In this work, we formalize this setting as the heterogeneous mission-aware coverage (HMAC) problem, which couples complete multi-robot coverage of an area with capability-constrained mission-relevant target (MRT) discovery under intermittent communication. We then present DORA, a divergence-oriented data-relay algorithm that drives communication by the value of information to the team rather than by discovery alone. DORA quantifies the mission-relevant divergence between a robot's current information state and its estimate of each teammate's knowledge, capturing mission relevance, discovery novelty, sensor uncertainty, and the age of information. We evaluate DORA in simulation across four environments with differing object densities and spatial structure, and validate it on a physical UAV platform. Our results show that DORA improves MRT resolution delay by up to 74.8% over traditional time-based communication scheduling methods.
