A Resilient Topology Configuration Framework for Heterogeneous Robots With Fixed-Time Coordination

Abstract

Heterogeneous robots capitalize on the diverse strengths of different nodes, enabling them to collaboratively perform tasks unfeasible for homogeneous robots. However, variations in perception capabilities and dynamic models complicate coordination, and potential failures present risks to the safety of the entire coordinated topology. To this end, this article proposes a resilient topology configuration framework for heterogeneous robots with fixed-time coordination. The framework solves the weighted topology configuration with $k$ -node connectivity to tackle the node failure problem and incorporates a $p$ -partite graph to solve the compatibility constraints caused by heterogeneous nodes. Building upon this optimized topology, a fixed-time convergence control barrier function is designed. Furthermore, a constraint-driven optimization framework is proposed to achieve fixed-time coordination of heterogeneous nodes with minimum control cost, thereby achieving synchronous configuration while ignoring initial errors, and being capable of recovering topological resilience after node failure. Comparative simulation results demonstrate the effectiveness of the proposed method.