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Intermittent Connec...
Intermittent Connectivity Maintenance With Heterogeneous Robots
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Aragues, Rosario (author)
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- Dimarogonas, Dimos V. (author)
- KTH,Reglerteknik
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Guallar, Pablo (author)
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Sagues, Carlos (author)
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(creator_code:org_t)
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2021
- 2021
- English.
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In: IEEE Transactions on robotics. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 1552-3098 .- 1941-0468. ; 37:1, s. 225-245
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- In this article, we consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a one-dimensional cycle graph that is traversed by the communicating robots, and we discuss intermittent communication strategies so that each task location is periodically visited, with a worst-case revisiting time. Robots move forward and backward along the cycle graph, exchanging data with their previous and next neighbors when they meet, and updating their region boundaries. Asymptotically, each robot is in charge of a region of the cycle graph, depending on its capabilities. The method is distributed, and robots only exchange data when they meet.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Keyword
- Task analysis
- Robot kinematics
- Distributed databases
- Maintenance engineering
- Collision avoidance
- Degradation
- Connectivity maintenance
- distributed robot systems
- heterogeneous robots
- multirobot systems
Publication and Content Type
- ref (subject category)
- art (subject category)
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