Multi-robot systems are promising tools for many hazardous real-world problems. In particular, the practical application of swarm robotics was identified as one of the grand challenges of the next decade. As swarms enter the real world, they have to deal with the inevitable problems of hardware, software, and communication failure, especially for long-term deployments. Communication is a key element for effective collaboration, and the ability of robots to communicate is expressed by the swarm’s connectivity. In this paper, we analyze a set of techniques to assess, control, and enforce connectivity in the context of fallible robots. Past research has addressed the issue of connectivity but, for the most part, without making system reliability a constitutional part of the model. We introduce a controller for connectivity maintenance in the presence of faults and discuss the optimization of its parameters and performance. We validate our approach in simulation and via physical robot experiments.

Robust connectivity maintenance for fallible robots / Panerati, Jacopo; Minelli, Marco; Ghedini, Cinara; Meyer, Lucas; Kaufmann, Marcel; Sabattini, Lorenzo; Beltrame, Giovanni. - In: AUTONOMOUS ROBOTS. - ISSN 0929-5593. - 43:3(2019), pp. 769-787. [10.1007/s10514-018-9812-8]

Robust connectivity maintenance for fallible robots

Minelli, Marco;Sabattini, Lorenzo;
2019

Abstract

Multi-robot systems are promising tools for many hazardous real-world problems. In particular, the practical application of swarm robotics was identified as one of the grand challenges of the next decade. As swarms enter the real world, they have to deal with the inevitable problems of hardware, software, and communication failure, especially for long-term deployments. Communication is a key element for effective collaboration, and the ability of robots to communicate is expressed by the swarm’s connectivity. In this paper, we analyze a set of techniques to assess, control, and enforce connectivity in the context of fallible robots. Past research has addressed the issue of connectivity but, for the most part, without making system reliability a constitutional part of the model. We introduce a controller for connectivity maintenance in the presence of faults and discuss the optimization of its parameters and performance. We validate our approach in simulation and via physical robot experiments.
2019
43
3
769
787
Robust connectivity maintenance for fallible robots / Panerati, Jacopo; Minelli, Marco; Ghedini, Cinara; Meyer, Lucas; Kaufmann, Marcel; Sabattini, Lorenzo; Beltrame, Giovanni. - In: AUTONOMOUS ROBOTS. - ISSN 0929-5593. - 43:3(2019), pp. 769-787. [10.1007/s10514-018-9812-8]
Panerati, Jacopo; Minelli, Marco; Ghedini, Cinara; Meyer, Lucas; Kaufmann, Marcel; Sabattini, Lorenzo; Beltrame, Giovanni
File in questo prodotto:
File Dimensione Formato  
19AUROb.pdf

Accesso riservato

Tipologia: Versione pubblicata dall'editore
Dimensione 1.75 MB
Formato Adobe PDF
1.75 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1174963
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 19
  • ???jsp.display-item.citation.isi??? 13
social impact