Intermittent connectivity maintenance with heterogeneous robots

Aragüés Muñoz, Rosario (Universidad de Zaragoza) ; Dimarogonas, Dimos V. ; Guallar, Pablo ; Sagüés Blázquiz, Carlos (Universidad de Zaragoza)

Resumen: In this article, we consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a one-dimensional cycle graph that is traversed by the communicating robots, and we discuss intermittent communication strategies so that each task location is periodically visited, with a worst-case revisiting time. Robots move forward and backward along the cycle graph, exchanging data with their previous and next neighbors when they meet, and updating their region boundaries. Asymptotically, each robot is in charge of a region of the cycle graph, depending on its capabilities. The method is distributed, and robots only exchange data when they meet.

Idioma: Inglés

DOI: 10.1109/TRO.2020.3014521

Año: 2020

Publicado en: IEEE Transactions on Robotics 37, 1 (2020), 225-245
ISSN: 1552-3098

Factor impacto JCR: 5.567 (2020)

Categ. JCR: ROBOTICS rank: 4 / 28 = 0.143 (2020) - Q1 - T1

Factor impacto SCIMAGO: 2.027 - Computer Science Applications (Q1) - Electrical and Electronic Engineering (Q1) - Control and Systems Engineering (Q1)

Financiación: info:eu-repo/grantAgreement/ES/DGA/T45-17R
Financiación: info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00
Financiación: info:eu-repo/grantAgreement/ES/MICINN/CAS18-00082
Financiación: info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)