基于事件触发的分布式LQG控制，降低多机器人协同通信开销。
Event-Based Distributed Linear Quadratic Gaussian for Multi-Robot Coordination with Localization Uncertainty
- 分离控制器与事件触发机制，动态调节通信频率
- 在定位不确定性下实现高精度汇合，平均发送率更低
- 适合资源受限的多机器人系统实时协同
本文针对定位不确定性下的多机器人协同问题，提出一种基于事件触发的分布式线性二次高斯（LQG）控制策略，以实现协调运动并减少通信开销。设计框架将LQG控制器与事件触发机制解耦，尽管调度参数对汇合性能有重要影响。建立了闭环多机器人系统的随机稳定性，并证明经过仔细调优的事件触发调度器能有效平衡汇合精度与通信效率，在限制汇合误差上界的同时最小化平均传输率。使用Robotarium移动机器人平台的实验结果验证了该方法在不确定性环境下实现鲁棒协同的有效性。
原文摘要 · Abstract (English)
This paper addresses the problem of event-based distributed Linear Quadratic Gaussian (LQG) control for multirobot coordination under localization uncertainty. An event-triggered LQG rendezvous control strategy is proposed to ensure coordinated motion while reducing communication overhead. The design framework decouples the LQG controller from the event-triggering mechanism, although the scheduler parameters critically influence rendezvous performance. We establish stochastic stability for the closed-loop multi-robot system and demonstrate that a carefully tuned event-triggering scheduler can effectively balance rendezvous accuracy with communication efficiency by limiting the upper bound of the rendezvous error while minimizing the average transmission rate. Experimental results using a group of Robotarium mobile robots validate the proposed approach, confirming its efficacy in achieving robust coordination under uncertainty.
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