Any-Com Multi-robot Path-Planning with Dynamic Teams: Multi-robot Coordination under Communication Constraints

摘要: We are interested in finding solutions to the multi-robot path-planning problem that have guarantees on completeness, robust communication failure, and incorporate varying team size. In this paper we present an algorithm addresses complete from two different angles. First, dynamic teams used minimize computational complexity per robot maximize bandwidth between team-members. Second, each is formed into a distributed computer utilizes surplus help achieve better solution quality speed-up consensus time. The proposed evaluated three real-world experiments promote formation. first experiment, five mobile plans set of compatible paths through office environment while disrupted using tin-can Faraday cage. Results show framework drastically speeds-up computation, even when packet loss as high 97%. second third experiments, four robots deployed network building wings connected by common room. latter emphasize need for algorithms can judiciously choose which subset original particular should solve.