ロボット群による最小長通信ネットワークの分散構築
Towards Decentralized Formation of Minimum-Length Communication Networks Using Robot Swarms
ロボット群が局所的な相互作用のみで通信制約を守りながら位置を調整し、ネットワーク長を最小化する分散フレームワークを提案。シミュレーションと実機実験で、集中計算によるユークリッド・シュタイナー木に近いネットワークを形成できることを示した。
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著者: Genki Miyauchi, Mohamed S. Talamali, Julian Rau, Roderich Groß
分類: cs.RO
原文アブストラクト
Multi-robot missions in infrastructure-denied environments frequently rely on reliable communication links between spatially separated locations. We propose a fully decentralized framework for constructing and dynamically maintaining communication networks without centralized topology planning or global positioning infrastructure. Driven strictly by local interactions, robots reconfigure local network topologies and adjust their physical positions to minimize overall network length while adhering to communication constraints. Formal analysis shows that our local reconfiguration operations guarantee continuous network connectivity, strictly decrease network length with every branch transfer, and bound worst-case performance to the shortest starlike tree. Embodied simulations and physical multi-robot experiments confirm that our approach forms networks near the length of centrally computed Euclidean Steiner trees. Additionally, the system dynamically adapts to moving targets and optimizes deployment by utilizing only necessary connectors, preserving excess robots for auxiliary tasks. This work enables autonomous swarms to self-organize adaptive ad hoc communication infrastructure in communication-denied environments, which could support applications varying from subterranean exploration to planetary missions.