This paper addresses the topological robustness of robot networks under failures; a subject often neglected in the literature. Robots are likely to fail due to several causes, which may lead to a poorly connected or a fragmented network. Our purpose is to discuss how to design resilient robot networks. For that, we first demonstrate the problem analyzing the results from a protocol to simulate failures of both central and random (w.r.t. topology) robots. Then, we propose mechanisms for detecting the probability of a robot being in a fragile local configuration and for improving its local robustness. The procedures rely solely on local information: each robot estimates its probability of being in a harmful configuration based on the positions of its neighbors. Such probability is estimated as the number of paths connecting a robot to its 2-hop neighbors by the number of paths existing in the subgraph encompassing its 1-hop and 2-hop neighborhoods. For reversing an adverse configuration, robots change their position to an average position towards their 2-hop neighbors with fewer alternative paths. The results showed that the proposed mechanism is efficient for detecting fragile topological configurations and for improving the overall network robustness.
|Data di pubblicazione:||2015|
|Titolo:||Improving robustness in multi-robot networks|
|Autore/i:||Ghedini, Cinara; Secchi, Cristian; Ribeiro, Carlos H.C.; Sabattini, Lorenzo|
|Digital Object Identifier (DOI):||10.1016/j.ifacol.2015.12.011|
|Nome del convegno:||11th IFAC Symposium on Robot Control SYROCO 2015: Salvador, Brazil, 26–28 August 2015|
|Luogo del convegno:||Salvador, Brazil|
|Data del convegno:||26–28 August 2015|
|Tipologia||Relazione in Atti di Convegno|
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