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Composable Communication Constraint based Control

机译：基于可组合通信约束的控制

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摘要

We describe a framework for multi-vehicle control which explicitly incorporates the state of the communication network and the constraints imposed by specifications on the quality of the communications links available to each robot. In a multi-robot adhoc setting, the need for guaranteed communications is essential for cooperative behavior. We propose a control methodology that ensures local connectivity in multi-robot navigation. Specifically, given an initial and final configuration of robots in which the quality of each communication link is above some specified threshold, we synthesize controllers that guarantee each robot goes to its goal destination while maintaining the quality of the communication links above the given threshold. For the sake of simplicity, we assume each robot has a pre-assigned "base unit" with which the robot tries to maintain connectivity while performing the assigned task. The proposed control methodology allows the robot's velocity to align with the tangent of a critical communication surface such that it might be possible for the robot to move on the surface. No assumptions are made regarding the critical surface, which might be arbitrarily complex for cluttered urban environments. The stability of such technique is shown and three-dimensional simulations with a small team of robots are presented. The paper demonstrates the performance of the control scheme in various three-dimensional settings with proofs of guarantees in simple scenarios.
机译：我们描述了一种用于多车辆控制的框架，该框架明确地并入了通信网络的状态以及规范对每个机器人可用的通信链路的质量施加的约束。在多机器人自组织设置中，对于协作行为而言，确保通信的必要性至关重要。我们提出一种控制方法，以确保多机器人导航中的本地连接。具体来说，在给定机器人的初始和最终配置（其中每个通信链接的质量高于某个特定阈值）的情况下，我们综合控制器，以确保每个机器人到达其目标目的地，同时将通信链接的质量保持在给定阈值以上。为简单起见，我们假设每个机器人都有一个预先分配的“基本单元”，在执行分配的任务时，机器人会尝试与之保持连接。所提出的控制方法允许机器人的速度与关键通信表面的切线对齐，从而使机器人有可能在表面上移动。对于临界表面没有做出任何假设，对于杂乱的城市环境而言，临界表面可能会非常复杂。展示了这种技术的稳定性，并提出了由一小组机器人进行的三维仿真。本文通过简单场景中的保证证明，演示了该控制方案在各种三维设置中的性能。

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