Decentralized Connectivity Maintenance for Multi-Robot Systems Under Motion and Sensing Uncertainties

IF 3.1 3区地球科学 Q1 ENGINEERING, AEROSPACE

Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI:10.33012/navi.552

Akshay Shetty, Timmy Hussain,, Grace Gao

{"title":"Decentralized Connectivity Maintenance for Multi-Robot Systems Under Motion and Sensing Uncertainties","authors":"Akshay Shetty, Timmy Hussain,, Grace Gao","doi":"10.33012/navi.552","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> Communication connectivity is desirable for the safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in recent literature, the majority of these works do not account for robot motion and sensing uncertainties. These uncertainties are inherent in practical robots and result in robots deviating from their desired positions which could potentially result in a loss of connectivity. In this paper, we present a decentralized connectivity maintenance algorithm accounting for robot motion and sensing uncertainties (DCMU). We, first, propose a novel weighted graph definition for the multi-robot system that accounts for the aforementioned uncertainties along with realistic connectivity constraints such as line-of-sight connectivity and collision avoidance. We, then, design a decentralized gradient-based controller for connectivity maintenance with which we derive the gradients of the weighted graph edge weights required for computing the control. Finally, we perform multiple simulations to validate the connectivity maintenance performance of our DCMU algorithm under robot motion and sensing uncertainties, showing an improvement compared to previous work.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":3.1000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Navigation-Journal of the Institute of Navigation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.33012/navi.552","RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}

引用次数: 1

Abstract

Communication connectivity is desirable for the safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in recent literature, the majority of these works do not account for robot motion and sensing uncertainties. These uncertainties are inherent in practical robots and result in robots deviating from their desired positions which could potentially result in a loss of connectivity. In this paper, we present a decentralized connectivity maintenance algorithm accounting for robot motion and sensing uncertainties (DCMU). We, first, propose a novel weighted graph definition for the multi-robot system that accounts for the aforementioned uncertainties along with realistic connectivity constraints such as line-of-sight connectivity and collision avoidance. We, then, design a decentralized gradient-based controller for connectivity maintenance with which we derive the gradients of the weighted graph edge weights required for computing the control. Finally, we perform multiple simulations to validate the connectivity maintenance performance of our DCMU algorithm under robot motion and sensing uncertainties, showing an improvement compared to previous work.

查看原文本刊更多论文

运动和传感不确定性下多机器人系统的分散连接维护

摘要通信连接是多机器人系统安全高效运行的必要条件。虽然在最近的文献中已经探索了用于连接维护的分散算法，但这些工作中的大多数都没有考虑机器人运动和感知的不确定性。这些不确定性在实际机器人中是固有的，并导致机器人偏离其期望的位置，这可能会导致连接的丧失。在本文中，我们提出了一种考虑机器人运动和感知不确定性(DCMU)的分散连接维护算法。首先，我们为多机器人系统提出了一种新的加权图定义，该定义考虑了上述不确定性以及现实连接约束(如视线连接和避碰)。然后，我们设计了一个分散的基于梯度的控制器，用于连通性维护，我们推导出计算控制所需的加权图边缘权重的梯度。最后，我们进行了多次仿真来验证我们的DCMU算法在机器人运动和传感不确定性下的连通性维护性能，与之前的工作相比，显示出改进。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Navigation-Journal of the Institute of Navigation ENGINEERING, AEROSPACE-REMOTE SENSING

CiteScore

5.60

自引率

13.60%

发文量

期刊介绍： NAVIGATION is a quarterly journal published by The Institute of Navigation. The journal publishes original, peer-reviewed articles on all areas related to the science, engineering and art of Positioning, Navigation and Timing (PNT) covering land (including indoor use), sea, air and space applications. PNT technologies of interest encompass navigation satellite systems (both global and regional), inertial navigation, electro-optical systems including LiDAR and imaging sensors, and radio-frequency ranging and timing systems, including those using signals of opportunity from communication systems and other non-traditional PNT sources. Articles about PNT algorithms and methods, such as for error characterization and mitigation, integrity analysis, PNT signal processing and multi-sensor integration, are welcome. The journal also accepts articles on non-traditional applications of PNT systems, including remote sensing of the Earth’s surface or atmosphere, as well as selected historical and survey articles.