Intermittent Connectivity Maintenance With Heterogeneous Robots

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Nyckelord

Task analysis

Robot kinematics

Distributed databases

Maintenance engineering

Collision avoidance

Degradation

Connectivity maintenance

distributed robot systems

heterogeneous robots

multirobot systems

Publikations- och innehållstyp

ref (ämneskategori)

art (ämneskategori)