将多智能体通信骨干重构问题转化为机械臂规划，实现高效稳定连接。
Communication Backbone Reconfiguration with Connectivity Maintenance
- 把多机器人通信网络规划类比为机械臂运动规划，简化求解。
- 支持不同数量机器人和通信距离的动态调整，适应性强。
- 可直接复用成熟机械臂规划算法，适合实际部署场景。
在搜救、军事行动和灾害响应等多智能体应用中，信息交换至关重要。本文提出一种简单有效的轨迹规划框架，通过将网络化多智能体运动规划问题重新建模为机械臂运动规划问题，解决通信骨干的构建、部署与重构难题。该方法适用于不同机器人数量和通信距离限制的多种配置。尽管近年来已有针对多机器人系统连接受限导航的研究，但机械臂领域的理论与实践更为成熟。因此，本方法能借助广泛可用的机械臂运动规划算法与框架，推动实际应用落地。
原文摘要 · Abstract (English)
The exchange of information is key in applications that involve multiple agents, such as search and rescue, military operations, and disaster response. In this work, we propose a simple and effective trajectory planning framework that tackles the design, deployment, and reconfiguration of a communication backbone by reframing the problem of networked multi-agent motion planning as a manipulator motion planning problem. Our approach works for backbones of variable configurations both in terms of the number of robots utilized and the distance limit between each robot. While research has been conducted on connection-restricted navigation for multi-robot systems in the last years, the field of manipulators is arguably more developed both in theory and practice. Hence, our methodology facilitates practical applications built on top of widely available motion planning algorithms and frameworks for manipulators.
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