クアッドコプターの分散型接続性制御：通信性能のフィールド研究
Decentralized Connectivity Control in Quadcopters: a Field Study of Communication Performance
分散型接続維持制御則をクアッドコプター群に実装し、屋外で通信性能を評価した研究。
著者: Jacopo Panerati, Benjamin Ramtoula, David St-Onge, Yanjun Cao, Marcel Kaufmann, Aidan Cowley, Lorenzo Sabattini, Giovanni Beltrame
分類: cs.RO, cs.MA
原文アブストラクト
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication strategy. Several recently proposed decentralized connectivity maintenance approaches exploit elegant algebraic results drawn from spectral graph theory. Yet, these proposals are rarely taken beyond simulations or laboratory implementations. In this work, we present two major contributions: (i) we describe the full-stack implementation---from hardware to software---of a decentralized control law for robust connectivity maintenance; and (ii) we assess, in the field, our setup's ability to correctly exchange all the necessary information required to maintain connectivity in a team of quadcopters.
