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Dynamic robot networks: A coordination platform for multi-robot systems.

机译：动态机器人网络：用于多机器人系统的协调平台。

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A large number of tasks, from manufacturing to planetary exploration, have been successfully accomplished using single robot systems. Many of these tasks could be completed faster, more reliably, and on a larger scale using a cooperating team of autonomous mobile robots. However, robots must be able to coordinate their actions before cooperation is possible.; This work aims to enable robots with the ability to coordinate their actions for safe navigation in dynamic, unknown environments. Specifically, the work focuses on: (1) the coordination of multiple robots when sensing and inter-robot communication are limited and (2) multi-robot motion planning in dynamic, unknown environments.; First, a new coordination platform is introduced---Dynamic Robot Networks---that facilitates centralized robot coordination across ad hoc networks. As robots move about their environment, they dynamically form communication networks. Within these networks, robots can share local sensing information and coordinate the actions of all robots in the network.; Second, a fast motion planner called within robot networks is presented. The planner is a probabilistic roadmap (PRM) motion planner augmented with new sampling strategies. These strategies decrease the planner's run time to enable on-the-fly planning---a key requirement for navigation in environments that are unknown a priori and contain moving obstacles.; Simulations and real robot experiments are presented that demonstrate: (1) centralized robot coordination across dynamic robot networks, (2) on-the-fly motion planning to avoid moving and previously unknown obstacles, and (3) autonomous robot navigation towards individual goal locations.
机译：使用单个机器人系统已成功完成了从制造到行星探测的大量任务。使用自主移动机器人的协作团队，可以更快，更可靠，更大规模地完成许多任务。但是，机器人必须能够协调其动作，然后才能进行协作。这项工作旨在使机器人能够协调其动作，以便在动态未知环境中进行安全导航。具体而言，该工作着重于：（1）当感测和机器人之间的通信受到限制时，多个机器人的协调；（2）在动态，未知环境中的多机器人运动计划。首先，引入了一个新的协调平台-动态机器人网络-，它促进了跨ad hoc网络的集中式机器人协调。随着机器人在周围环境中移动，它们会动态形成通信网络。在这些网络中，机器人可以共享本地传感信息并协调网络中所有机器人的动作。其次，介绍了在机器人网络中称为快速运动计划器的方法。该计划程序是一个概率路线图（PRM）运动计划程序，其中增加了新的采样策略。这些策略减少了计划者的运行时间，从而可以进行即时计划-这是在先验未知且包含移动障碍的环境中导航的一项关键要求。仿真和真实机器人实验的结果表明：（1）跨动态机器人网络进行集中式机器人协调；（2）进行动态运动规划，以避免移动和先前未知的障碍；（3）朝着单个目标位置的自主机器人导航。

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