论文标题
约束驱动的多机器人系统中的弹性和能量意识
Resilience and Energy-Awareness in Constraint-Driven-Controlled Multi-Robot Systems
论文作者
论文摘要
在本文中，在对多机器人系统的约束驱动控制的背景下，我们提出了一个基于优化的框架，能够确保机器人团队的韧性和能源意识。该方法基于一种新颖的，框架理论的弹性度量，使我们能够分析和执行多机器人系统的弹性行为。弹性和能量意识的属性被编码为凸优化程序的约束，该程序用于合成机器人控制输入。这允许将此类属性与执行协调任务相结合，以实现弹性和能量意识的机器人操作。在模拟场景中说明了所提出方法的有效性，其中部署了一个机器人团队以执行受能量和弹性约束的两个任务。
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel, frame-theoretic, measure of resilience which allows us to analyze and enforce resilient behaviors of multi-robot systems. The properties of resilience and energy-awareness are encoded as constraints of a convex optimization program which is used to synthesize the robot control inputs. This allows for the combination of such properties with the execution of coordinated tasks to achieve resilient and energy-aware robot operations. The effectiveness of the proposed method is illustrated in a simulated scenario where a team of robots is deployed to execute two tasks subject to energy and resilience constraints.
