Dynamic Bandwidth Allocation for Collaborative Multi-Robot Systems Based on Task Execution Measures

Multi-robot systems (MRSs) is a growing field of research that focuses on the collaboration of multiple robots to achieve a common global objective. Managing these systems poses several challenges, including coordination, task allocation, and communication. Among these challenges, a major area of focus is devising an effective communication scheme that ensures robots' cooperation and adapts to varying conditions during task execution. In this paper, we develop a novel communication management framework tailored for MRSs, specifically addressing dynamic bandwidth distribution in networked teleoperated robotic systems. The algorithm is combined with semi-autonomous formation control based on the Artificial Potential Fields (APF) algorithm, which allows each individual robot to avoid local obstacles autonomously and tries to maintain a desired formation with its neighbors, while the operator is in charge of high-level control only. Common Dynamic Bandwidth Allocation (DBA) algorithms allocate bandwidth to different units based on network conditions and requirements. On the other hand, our proposed DBA scheme dynamically distributes the available bandwidth on communication streams based on factors related to task execution and system performance. In specific, bandwidth is allocated in a way that adapts to changes occurring in the system's environment and its internal state, including the effect of the autonomous action taken by the path planner on the MRS and the performance of the controller of each individual robot. By addressing the limitations of existing approaches through shaping the communication behavior of the MRS based on performance measures, our proposed algorithm offers a promising solution for improving the performance and efficiency of MRSs. The proposed scheme is tested through simulations on a group of six unmanned aerial vehicles (UAVs) in the Robot Operating System (ROS)-Gazebo simulation environment. The obtained results show the scheme's capability for enhancing the robotic system's performance while significantly reducing bandwidth consumption. Experimental testing on two mobile robots further demonstrates the effectiveness of the proposed scheme.