2017/06/02 by Yiannis Kantaros, Kantaros, Yiannis, Meng Guo +3
Computer Science · Engineering · #Distributed systems and fault tolerance #Modular Robots and Swarm Intelligence #Distributed Control Multi-Agent Systems
paper · pdf · doi:10.48550/arxiv.1706.00765
In this paper, we develop a distributed intermittent communication and task\nplanning framework for mobile robot teams. The goal of the robots is to\naccomplish complex tasks, captured by local Linear Temporal Logic formulas, and\nshare the collected information with all other robots and possibly also with a\nuser. Specifically, we consider situations where the robot communication\ncapabilities are not sufficient to form reliable and connected networks while\nthe robots move to accomplish their tasks. In this case, intermittent\ncommunication protocols are necessary that allow the robots to temporarily\ndisconnect from the network in order to accomplish their tasks free of\ncommunication constraints. We assume that the robots can only communicate with\neach other when they meet at common locations in space. Our distributed control\nframework jointly determines local plans that allow all robots fulfill their\nassigned temporal tasks, sequences of communication events that guarantee\ninformation exchange infinitely often, and optimal communication locations that\nminimize a desired distance metric. Simulation results verify the efficacy of\nthe proposed controllers.\n