多机器人协同部署，确保通信连通性下快速完成任务
Fast and scalable multi-robot deployment planning under connectivity constraints
- 分两阶段规划：先生成带中继的路径集群，再优化访问顺序
- 在不同机器人数量和目标规模下，短时间内获得近优解
- 适合需要实时动态分配的无人机或移动机器人系统
本文提出一种多机器人协同部署规划方法，旨在使机器人团队在满足通信连通性约束的前提下，到达若干关键位置（主目标），并将信息传送到固定基站（BS）。部分机器人需担任中继角色，以维持其他机器人访问主目标时的通信链路。一旦所有机器人抵达分配目标，便可重新分配至新任务，实现动态调度。该方法分为两个阶段：首先计算包含中继与主目标的位置集群，形成需依次访问的链式树结构；其次求解各集群内目标的最优分配与访问顺序。针对串行与并行部署，评估多种启发式策略，在不同机器人数量和大量目标场景下，均能在短时间内获得次优解。
原文摘要 · Abstract (English)
In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under connectivity constraints. The relay positions have to be established for some robots to maintain the connectivity at the moment in which the other robots visit the primary goals. Once every robot reaches its assigned goal, they are again available to cover new goals, dynamically re-distributing the robots to the new tasks. The contribution of this work is a two stage method to deploy the team. Firstly, clusters of relay and primary positions are computed, obtaining a tree formed by chains of positions that have to be visited. Secondly, the order for optimally assigning and visiting the goals in the clusters is computed. We analyze different heuristics for sequential and parallel deployment in the clusters, obtaining sub-optimal solutions in short time for different number of robots and for a large amount of goals.
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