制御バリア関数を用いた再構成可能なマルチロボットネットワークにおける強いr-ロバスト性の維持
Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
距離ベース通信モデルを持つロボット群が狭い環境を移動する際も、制御バリア関数により通信グラフの強いr-ロバスト性を閾値以上に保ち、柔軟なネットワーク再構成を可能にする手法を提案。
著者: Haejoon Lee, Dimitra Panagou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or switch between predetermined network topologies with known robustness properties. However, robots with distance-based communication models may not be able to achieve these topologies while moving through spatially constrained environments, such as narrow corridors, to complete their objectives. This paper introduces a Control Barrier Function (CBF) that ensures robots maintain strong r-robustness of their communication graph above a certain threshold without maintaining any fixed topologies. Our CBF directly addresses robustness, allowing robots to have flexible reconfigurable network structure while navigating to achieve their objectives. The efficacy of our method is tested through various simulation and hardware experiments.
