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Improving Robustness of Robotic Networks using Consensus and Wireless Signal Strength

机译：使用共识和无线信号强度提高机器人网络的稳健性

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摘要

When using multiple networked autonomous mobile robots to sense a given area online, it is of high importance to assure the network connectivity even when the robots move in the scope of their application target. In previous work we have used a topological graph property known as bi-connectivity to turn the multi-robot network robust to dropout faults while the robots were sensing a certain area or tracking a target. In this paper we continue that work by including wireless signal strength information as a measure of link quality, adapting the robots' positions to make sure each robot is connected to any other robot by at least two separate routes over time. The proposed algorithm is decentralized and based on consensus theory. We use a solution of the Traveling Salesman Problem to turn the initial arbitrary topology graph into a virtually bi-connected one. We validate our method with simulations that consider asymmetric and intermittent attenuation in the propagation model. The obtained results show that without our method the network can be disrupted while our method compensates unexpected attenuation. This work is particularly suited to networks of UAVs that sense a target area, online.
机译：当使用多个网络自主移动机器人在线感知给定区域时，即使机器人在其应用程序目标的范围内移动，它也很高兴为网络连接确保。在以前的工作中，我们使用了称为双连接的拓扑图形属性，以便在机器人传感某个区域或跟踪目标时将多机器人网络变为丢失故障。在本文中，我们继续通过包括无线信号强度信息作为链路质量的量度，适应机器人的位置，以确保每个机器人通过至少两个单独的路线连接到任何其他机器人。所提出的算法分散，基于共识理论。我们使用旅行推销员问题的解决方案将初始任意拓扑图形转换为几乎双连接的拓扑结构。我们通过在传播模型中考虑不对称和间歇衰减的模拟来验证我们的方法。获得的结果表明，如果没有我们的方法，我们的方法可以在我们的方法补偿意外衰减时中断。这项工作特别适用于无人机网络，可感知目标区域在线。

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