多机器人协同规划中，确保通信不中断且完成时间最短。
Heuristic Planner for Communication-Constrained Multi-Agent Multi-Goal Path Planning
- 基于图搜索算法，统筹考虑未来所有目标点的路径规划
- 在保证机器人间通信连续性的前提下，最小化整体任务完成时间
- 适合需要稳定通信的多机器人协作场景，如搜救、巡检
在机器人领域，协调一群机器人是一项关键任务。本文提出通信约束下的多机器人多目标路径规划问题，并设计了一种基于图搜索的算法来解决该问题。给定一组机器人、由加权图表示的环境以及一系列目标点，目标是在不破坏机器人之间的通信约束的前提下访问所有目标点，并最小化任务完成时间。所提出的方案生成的路径展示了机器人如何在其个体路径上不仅考虑下一个目标，还兼顾所有未来目标，同时始终保持整个团队内部通信畅通。
原文摘要 · Abstract (English)
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet of robots, an environment represented by a weighted graph, and a sequence of goals, the aim is to visit all the goals without breaking the communication constraints between the agents, minimizing the completion time. The resulting paths produced by our approach show how the agents can coordinate their individual paths, not only with respect to the next goal but also with respect to all future goals, all the time keeping the communication within the fleet intact.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。