2024/06/26 by Jeppe Heini Mikkelsen, Mikkelsen, Jeppe Heini, Roberto Galeazzi +3
Computer Science · Engineering · #Advanced Manufacturing and Logistics Optimization #FOS: Computer and information sciences #FOS: Electrical engineering #Modular Robots and Swarm Intelligence #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2406.18452
openalex publication_date 2024/06/26 · openalex created_date 2024/06/28 · openalex updated_date 2026/07/28
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear constraints on the trajectories of the robots are introduced to ensure communication performance and collision avoidance. The Fiedler value is adopted as communication performance metric. The validity of the method in computing both feasible and optimal trajectories for the robots is demonstrated both in simulation and experimentally. Results show that the constraint on the Fiedler value ensures that the robot network fulfils its objective while maintaining communication connectivity at all times. Further, the paper shows that the introduction of approximations for the constraints enables a significant improvement in the computational time of the solution, which remain very close to the optimal solution.