Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 32, Issue 5, Pages 1045-1061Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2593045
Keywords
Communication networks; distributed control; distributed optimization; global motion planning; multi-robot networks
Categories
Funding
- NSF [CNS 1261828, CNS 1302284]
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1261828] Funding Source: National Science Foundation
- Division Of Computer and Network Systems
- Direct For Computer & Info Scie & Enginr [1302284] Funding Source: National Science Foundation
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In this paper, we consider networks of mobile robots responsible for servicing a collection of tasks in complex environments, while ensuring end-to-end connectivity with a fixed infrastructure of access points. Tasks are associated with specific locations in the environment, are announced sequentially, and are not assigned a priori to any robots. Information generated at the tasks is propagated to the access points via a multihop communication network. We propose a distributed, hybrid control scheme that dynamically grows tree networks, rooted at the access points, with branches that connect robots that service individual tasks to the main network structure. To achieve this goal, the robots switch between different roles related to their functionality in the network. The switching process is tightly integrated with distributed optimization of the communication variables and motion planning in complex environments, giving rise to the proposed distributed hybrid system. Our proposed scheme results in an efficient use of the available robots and also allows for global planning by construction, a task that is particularly challenging in complex environments.
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