Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation can require team-wide connectivity and a carefully designed communication. Several recently proposed decentralized connectivity maintenance approaches exploit elegant algebraic results drawn from spectral graph theory. Yet, these proposals are rarely taken beyond simulations or laboratory implementations. The contribution of this work is two-fold: (i) we describe the full-stack implementation—from hardware to software—of a decentralized control law for robust connectivity maintenance; and (ii) we assess, in the field, our robots’ ability to correctly exchange the information required to execute it.
On the Communication Requirements of Decentralized Connectivity Control - A Field Experiment / Panerati, Jacopo; Ramtoula, Benjamin; St-Onge, David; Cao, Yanjun; Kaufmann, Marcel; Cowley, Aidan; Sabattini, Lorenzo; Beltrame, Giovanni. - 22:(2022), pp. 95-107. (Intervento presentato al convegno 15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SWARM 2021 tenutosi a Online nel June 2021) [10.1007/978-3-030-92790-5_8].
On the Communication Requirements of Decentralized Connectivity Control - A Field Experiment
Lorenzo Sabattini;
2022
Abstract
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation can require team-wide connectivity and a carefully designed communication. Several recently proposed decentralized connectivity maintenance approaches exploit elegant algebraic results drawn from spectral graph theory. Yet, these proposals are rarely taken beyond simulations or laboratory implementations. The contribution of this work is two-fold: (i) we describe the full-stack implementation—from hardware to software—of a decentralized control law for robust connectivity maintenance; and (ii) we assess, in the field, our robots’ ability to correctly exchange the information required to execute it.
Pubblicazioni consigliate
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
