多机器人在突发障碍后自主组队恢复通信链路
Multi-robot coordination for connectivity recovery after unpredictable environment changes
- 各机器人基于局部观测预测全局路径，分布式重建连接链
- 仅需局部信息即可实现全队唯一连通路径，成功率高
- 适合突发环境变化下的无人系统协同任务
本文提出一种分布式方法，用于在不可预测的环境变化（如新障碍物出现）导致多机器人团队通信中断后，重新建立连接。团队被分割为多个通信范围有限、视野受限的小组，目标是从静态基站到目标位置形成一条连续通信链。所提方法中，各机器人根据自身新观测信息，预测其他小组的新路径，以恢复与基站的连接并达成初始协作目标。若存在可行解，该方法可唯一重建全队连通链。通过数值仿真评估了该方法在突发场景变化下的表现，并与两种基准情况对比：1）所有机器人拥有完整环境信息；2）部分机器人需移动至其他等待机器人处完成重连。结果表明，该方法在信息受限条件下仍能高效恢复团队连通性。
原文摘要 · Abstract (English)
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into different groups of robots. The groups have a limited communication range and only a partial information in their field of view about the current scenario. Their objective is to form a chain from a static base station to a goal location. In the proposed distributed replanning approach, the robots predict new plans for the other groups from the new observed information by each robot in the changed scenario, to restore the connectivity with a base station and reach the initial joint objective. If a solution exists, the method achieves the reconnection of all the groups in a unique chain. The proposed method is compared with other two cases: 1) when all the agents have full information of the environment, and 2) when some robots must move to reach other waiting robots for reconnection. Numerical simulations are provided to evaluate the proposed approach in the presence of unpredictable scenario changes.
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