文章基本信息

标题：Improving robustness in multi-robot networks *
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作者：Cinara Ghedini ; Cristian Secchi ; Carlos H.C. Ribeiro 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：19
页码：63-68
DOI：10.1016/j.ifacol.2015.12.011
语种：English
出版社：Elsevier
摘要：AbstractThis paper addresses the topological robustness of robot networks under failures; a subject often neglected in the literature. Robots are likely to fail due to several causes, which may lead to a poorly connected or a fragmented network. Our purpose is to discuss how to design resilient robot networks. For that, we first demonstrate the problem analyzing the results from a protocol to simulate failures of both central and random (w.r.t. topology) robots. Then, we propose mechanisms for detecting the probability of a robot being in a fragile local configuration and for improving its local robustness. The procedures rely solely on local information: each robot estimates its probability of being in a harmful configuration based on the positions of its neighbors. Such probability is estimated as the number of paths connecting a robot to its 2-hop neighbors by the number of paths existing in the subgraph encompassing its 1-hop and 2-hop neighborhoods. For reversing an adverse configuration, robots change their position to an average position towards their 2-hop neighbors with fewer alternative paths. The results showed that the proposed mechanism is efficient for detecting fragile topological configurations and for improving the overall network robustness.
关键词：KeywordsNetworked robotsMulti cooperative robot controlAdaptive robot control