While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively managing system redundancies depending on current tasks and having more options to respond to failure events. To support this active exploitation of redundancies in robotic systems, this paper details an organization model as basis for planning with reconfigurable multi-robot systems. The model allows to exploit redundancies when optimizing a multi-robot system's probability of survival with respect to a desired mission. The resulting planning approach trades safety against efficiency in robotic operations and thereby offers a new perspective and tool to design and improve multi-robot missions. We use a simulated multi-robot planetary exploration mission to evaluate this approach and highlight an exemplary performance landscape.
翻译:虽然传统的机器人系统带有单一系统设计,但可重新配置的多机器人系统可以按需分享和转移物质资源,多机器人操作可受益于这种灵活性,根据当前的任务积极管理系统冗余,并有更多的办法应对故障事件。为支持这种对机器人系统冗余的积极利用,本文详细介绍了一种组织模式,作为与可重新配置的多机器人系统进行规划的基础。该模型允许在优化多机器人系统对所希望的任务的生存概率时利用冗余。由此产生的规划方法使机器人操作的安全与效率发生交易,从而提供了设计和改进多机器人任务的新视角和新工具。我们利用模拟多机器人行星探索任务来评估这一方法,并突出示范性性性性能景观。