000147875 001__ 147875
000147875 005__ 20250109162737.0
000147875 0247_ $$2doi$$a10.1016/j.ifacol.2019.08.094
000147875 0248_ $$2sideral$$a122827
000147875 037__ $$aART-2019-122827
000147875 041__ $$aeng
000147875 100__ $$0(orcid)0000-0002-3515-956X$$aMarchukov, Y.
000147875 245__ $$aMulti-robot coordination for connectivity recovery after unpredictable environment changes
000147875 260__ $$c2019
000147875 5060_ $$aAccess copy available to the general public$$fUnrestricted
000147875 5203_ $$aIn the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into different groups of robots. The groups have a limited communication range and only a partial information in their field of view about the current scenario. Their objective is to form a chain from a static base station to a goal location. In the proposed distributed replanning approach, the robots predict new plans for the other groups from the new observed information by each robot in the changed scenario, to restore the connectivity with a base station and reach the initial joint objective. If a solution exists, the method achieves the reconnection of all the groups in a unique chain. The proposed method is compared with other two cases: 1) when all the agents have full information of the environment, and 2) when some robots must move to reach other waiting robots for reconnection. Numerical simulations are provided to evaluate the proposed approach in the presence of unpredictable scenario changes.
000147875 536__ $$9info:eu-repo/grantAgreement/ES/DGA-FSE/T45-17R$$9info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R$$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/BES-2013-067405
000147875 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000147875 592__ $$a0.332$$b2019
000147875 593__ $$aControl and Systems Engineering$$c2019$$dQ2
000147875 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000147875 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, L.$$uUniversidad de Zaragoza
000147875 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000147875 773__ $$g52, 8 (2019), 446-451$$pIFAC-PapersOnLine$$tIFAC PAPERSONLINE$$x2405-8963
000147875 8564_ $$s559501$$uhttps://zaguan.unizar.es/record/147875/files/texto_completo.pdf$$yPostprint
000147875 8564_ $$s2984700$$uhttps://zaguan.unizar.es/record/147875/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000147875 909CO $$ooai:zaguan.unizar.es:147875$$particulos$$pdriver
000147875 951__ $$a2025-01-09-14:41:00
000147875 980__ $$aARTICLE