Design Guarantees for Resilient Robot Formations on Lattices

被引：18
|
作者：
Guerrero-Bonilla, Luis [1 ]
Saldana, David [1 ]
Kumar, Vijay [1 ]
机构：
[1] Univ Penn, GRASP Lab, Philadelphia, PA 19104 USA
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2019年 / 4卷 / 01期
关键词：
Distributed robot systems; networked robots; multi-robot systems; CONSENSUS; ALGORITHMS; ROBUSTNESS; CONNECTIVITY;
D O I：
10.1109/LRA.2018.2881231
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This letter presents guarantees to satisfy resilience on the communication network of robot formations. In these resilient networks, cooperative robots can achieve consensus in the presence of faulty or malicious robots. We propose a design framework on triangular and square lattices, providing an underlying structure for proximity-based robot networks. We present sufficient conditions on the robot communication range to guarantee resilient consensus. Our results can be used to design robot formations considering obstacles, number of robots, and energy usage. Additionally, robot networks with homogeneous and heterogeneous communication range are studied. We support our theoretical analysis with simulations on selected scenarios.
引用
收藏
页码：89 / 96
页数：8
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