让机器人团队在通信受限下高效部署，兼顾任务与连通性。
Communication-aware planning for robot teams deployment
- 分步规划：先生成保通信的路径，再分配任务并优化访问顺序。
- 机器人双重角色：既完成主任务，又充当通信中继维持团队连通。
- 适合多机器人协同场景，尤其通信范围有限的复杂环境。
本文研究机器人团队在需到达特定位置的场景中的部署问题。障碍物、通信范围有限及必须连接基站等因素限制了团队的连通性与部署规划。为此提出三种算法：分布式路径规划器生成具备通信意识的轨迹；部署规划器使机器人同时执行主任务与连通性维护任务；聚类算法将任务分配给机器人，并确定最优任务访问顺序，以提升整体效率。
原文摘要 · Abstract (English)
In the present work we address the problem of deploying a team of robots in a scenario where some locations of interest must be reached. Thus, a planning for a deployment is required, before sending the robots. The obstacles, the limited communication range, and the need of communicating to a base station, constrain the connectivity of the team and the deployment planning. We propose a method consisting of three algorithms: a distributed path planner to obtain communication-aware trajectories; a deployment planner providing dual-use of the robots, visiting primary goals and performing connectivity tasks; and a clustering algorithm to allocate the tasks to robots, and obtain the best goal visit order for the mission.
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