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首页> 外文会议>IEEE International Conference on Robotics and Automation >When Good Comms Go Bad: Communications Recovery For Multi-Robot Teams
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When Good Comms Go Bad: Communications Recovery For Multi-Robot Teams

机译：当好消息变坏：多机器人团队的通信恢复

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摘要

Ad-hoc networks among groups of autonomous mobile robots are becoming a common occurrence as teams of robots take on increasingly complicated missions over wider areas. Research has often focused on proactive means in which the individual robots of the team may prevent communication failures between nodes in this network. This is not always possible especially in unknown or hostile environments. This research addresses reactive aspects of communication recovery. How should the members of the team react in the event of unseen communication failures between some or all of the nodes in the network? We present a number of behaviors to be utilized in the event of communications failure as well as a behavioral sequencer to further enhance the effectiveness of these recovery behaviors. The performance of the communication recovery behaviors is analyzed in simulation and their application on hardware platforms is discussed.
机译：自主移动机器人组中的ad-hoc网络正在变成常见的发生，因为机器人团队在更广泛的地区的任务上越来越复杂。研究通常集中在主动手段上，其中团队的各个机器人可以防止该网络中节点之间的通信失败。这并不总是可能在未知或敌对的环境中。这项研究解决了通信恢复的反应方面。团队的成员应该如何在网络中的某些或所有节点之间的未完成通信失败的情况下反应？我们在通信失败以及行为序列机中提出了许多行为，以进一步提高这些恢复行为的有效性。在仿真中分析了通信恢复行为的性能，并讨论了它们在硬件平台上的应用。

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