让多机器人临时断联后能按时重连，提升任务效率。
Spatio-Temporal Reconnection for Multi-Robot Networks using Adaptive Prescribed-Time CBFs
- 用自适应预设时间屏障函数实现可控断联与定时重连。
- 在有限时间内确保重连，实验显示任务效率显著提升。
- 适合需灵活通信的大型环境机器人协作场景。
在多机器人系统中，维持持续通信图连通性往往过于严格，尤其当机器人通信范围有限却需在大环境中作业时。允许机器人临时断联后再适时重连，更有利于高效完成任务，同时保障团队间及时信息共享。本文提出一种自适应预设时间控制屏障函数（adaptive PT-CBF）框架，使机器人可在可调节且可行的预设时间内临时断联并重新进入通信范围。此外，我们设计了一种重连触发机制，综合考虑任务执行进展与重连紧迫性，提供决策依据。理论分析证明了在预设有限时间内收敛至满足条件的重连。实验结果验证了所提方法在提升任务效率和实现可靠重连方面的有效性。
原文摘要 · Abstract (English)
In multi-robot systems, maintaining persistent communication graph connectivity is often overly restrictive, especially when robots have limited communication ranges but operate in large environments. Instead, allowing robots to temporarily disconnect and later reconnect is often more desirable for efficient task execution while still ensuring timely information sharing across the team. In this paper, we propose an adaptive prescribed-time control barrier function (adaptive PT-CBF) framework that enables robots to temporarily disconnect and re-enter the communication range within an adjustable and feasible prescribed time. Moreover, we introduce a reconnection triggering mechanism that jointly considers task execution and reconnection urgency, thereby providing a principled way to decide when reconnection should occur. Theoretical analysis justifies convergence to the satisfying reconnection within a prescribed finite time. Experimental results validate the performance of our proposed adaptive PT-CBF with improved task efficiency and satisfying reconnections.
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