大規模ロボット群の分散型接続性維持展開
Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms
ロボット群が複数の目標地点へ到達しつつネットワーク分断を防ぐため、物理ネットワーク上に論理ツリーを構築する分散アルゴリズムを提案し、シミュレーションと実機で比較検証した。
著者: Nathalie Majcherczyk, Adhavan Jayabalan, Giovanni Beltrame, Carlo Pinciroli
分類: cs.RO, cs.MA
原文アブストラクト
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot be split. The basic idea behind our work is to construct a logical tree topology over the physical network formed by the robots. The logical tree acts as a backbone used by robots to enforce connectivity constraints. We study and compare two algorithms to form the logical tree: outwards and inwards. These algorithms differ in the order in which the robots join the tree: the outwards algorithm starts at the tree root and grows towards the targets, while the inwards algorithm proceeds in the opposite manner. Both algorithms perform periodic reconfiguration, to prevent suboptimal topologies from halting the growth of the tree. Our contributions are (i) The formulation of the two algorithms; (ii) A comparison of the algorithms in extensive physics-based simulations; (iii) A validation of our findings through real-robot experiments.
