We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team executes a task, whose performance depends on the resources to which it has access. When a resource on a particular robot becomes unavailable (\eg a camera ceases to function), the team optimally reconfigures its communication network so that the robots affected by the failure can continue their tasks. We focus on a monitoring task, where robots individually estimate the state of an exogenous process. We encode the end-to-end effect of a robot's resource loss on the monitoring performance of the team by defining a new stronger notion of observability -- \textit{one-hop observability}. By abstracting the impact that {low-level} individual resources have on the task performance through the notion of one-hop observability, our framework leads to the principled reconfiguration of information flow in the team to effectively replace the lost resource on one robot with information from another, as long as certain conditions are met. Network reconfiguration is converted to the problem of selecting edges to be modified in the system's communication graph after a resource failure has occurred. A controller based on finite-time convergence control barrier functions drives each robot to a spatial location that enables the communication links of the modified graph. We validate the effectiveness of our framework by deploying it on a team of differential-drive robots estimating the position of a group of quadrotors.
翻译:我们建议了一个网络化的多机器人多机器人团队的抗御能力框架,但需视资源故障而定。团队中的每个机器人都配备了与邻居共享的资源。此外,团队中的每个机器人都执行一个任务,其性能取决于它能够访问的资源。当某个机器人的资源变得无法使用时(相机停止运行),团队就最佳地调整其通信网络,以便受失败影响的机器人能够继续执行任务。我们侧重于监测任务,让机器人单独估计外部进程的状况。我们通过界定新的更强的可耐性概念 -- --\ textit{one-hop可观性)来记录机器人资源损失对团队监测业绩的端到端效应。通过抽选某个机器人的资源(低级)对任务性能的影响,我们的框架导致对团队中的信息流动进行有原则的重组,以便只要满足某些条件,就一个机器人资源损失对团队监测业绩的影响进行编码。网络的重新配置将一个更强的可耐用性概念化概念化概念,即根据每个机器人的可耐性定位值定位定位定位定位系统,使每个机器人的定位定位系统能改变一个障碍定位,从而改变一个稳定的定位定位定位系统。