In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making process of the robots. Therefore, it is crucial to store these data safely and to make it available quickly to the operators of the robotic system. In a decentralized system like a swarm of robots, this entails several challenges. To address them, we propose RASS, a decentralized risk-aware swarm storage and routing mechanism, which relies exclusively on local information sharing between neighbours to establish storage and routing fitness. We test our system through thorough experiments in a physics-based simulator and test its real-world applicability with physical experiments. We obtain convincing reliability, routing speeds, and swarm storage capacity results.
翻译:在机器人中,数据获取往往在未知环境勘探中起着关键作用,例如,储存关于所探索地形地形或环境中自然危险的信息可以通报机器人的决策程序,因此,安全储存这些数据并将其迅速提供给机器人系统的操作者至关重要,在像一大批机器人这样的分散化系统中,这带来若干挑战。为了解决这些问题,我们提议建立分散化的有风险储存群和路由机制,即分散化的有风险储存群和路由机制,完全依靠邻国之间的当地信息共享来建立储存和路由健康。我们通过物理模拟器的彻底实验来测试我们的系统,并通过物理实验测试其真实世界的可适用性。我们获得了令人信服的可靠性、路由速度和储存容量结果。