Robust connectivity maintenance for fallible robots

Panerati, Jacopo; Minelli, Marco; Ghedini, Cinara; Meyer, Lucas; Kaufmann, Marcel; Sabattini, Lorenzo; Beltrame, Giovanni

doi:10.1007/s10514-018-9812-8

Cited by 23 publications

(27 citation statements)

References 45 publications

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“…The objective function increases, which corresponds to the simulated behavior (compare to Figure 2). The initial decrease in coverage, as well as the increasing of connectivity have been observed in the previous experiments [11]. Fig.…”

Section: Experimental Validationsupporting

confidence: 79%

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Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies

Minelli

Kaufmann

Panerati

et al. 2019

Distributed Autonomous Robotic Systems

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Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in which the overall network topology is constantly changing, we aim at avoiding the onset of single points of failure, particularly situations in which the failure of a single robot causes the loss of connectivity for the overall network. We propose a method based on the combination of multiple control objectives and we introduce an online distributed optimization strategy that computes the optimal choice of control parameters for each robot. This ensures that the connectivity of the multi-robot system is not only preserved but also made more resilient to failures, as the network topology evolves. We provide simulation results, as well as experiments with real robots to validate theoretical findings and demonstrate the portability to robotic hardware.

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Section: Experimental Validationsupporting

confidence: 79%

“…These gain combinations determine the overall performance of the system. To automate the choice of the overall parameter set (i.e., the control law gains), we introduce an offline optimization method [11].…”

Section: Introductionmentioning

confidence: 99%

Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies

Minelli

Kaufmann

Panerati

et al. 2019

Distributed Autonomous Robotic Systems

Self Cite

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show abstract

“…Transitioning from simulation to real robots can be challenging and results in performance degradation, especially with resource constraint hardware [11]. To demonstrate the portability of the proposed online optimization, and to analyze how hardware limitations affect the choice of the optimization parameters (i.e., the generated points G p and optimization period O p ), we used an actual distributed multi-robot system to test our methodology.…”

Section: Experimental Validationmentioning

confidence: 99%

“…In [12], we showed that the selection of these control gains can be delegated to autonomous, online optimization. Yet, we did not investigate the interplay of this level of autonomy with the error models in [11], in this work, we finally fill the gap. We do so by carrying the control and algorithms presented in [12] into the real robotic setup of [11]including two types of fault-injection.…”

mentioning

confidence: 95%

“…Finally, it is worth mentioning the work of Gil et al [44] as they observed that networks and multi-robot systems can be gravely disrupted by the Sybil attack The contribution in this article stems from the theoretical work in [45,10,46] about the simultaneous control of connectivity (through λ 2 ) and robustness (of the multi-robot network towards faults). In [11,47], we originally validated the control law in real robots and in presence of faults through the manual screening of many control gains combinations. In [12], we showed that the selection of these control gains can be delegated to autonomous, online optimization.…”

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confidence: 99%

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Self-optimization of resilient topologies for fallible multi-robots

Minelli

Panerati

Kaufmann

et al. 2020

Robotics and Autonomous Systems

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This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.

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Distributed Autonomous Robotic Systems

2022

Springer Proceedings in Advanced Robotics

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Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation can require team-wide connectivity and a carefully designed communication. Several recently proposed decentralized connectivity maintenance approaches exploit elegant algebraic results drawn from spectral graph theory. Yet, these proposals are rarely taken beyond simulations or laboratory implementations. The contribution of this work is two-fold: (i) we describe the full-stack implementationfrom hardware to software-of a decentralized control law for robust connectivity maintenance; and (ii) we assess, in the field, our robots' ability to correctly exchange the information required to execute it.

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Robust connectivity maintenance for fallible robots

Cited by 23 publications

References 45 publications

Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies

Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies

Self-optimization of resilient topologies for fallible multi-robots

Distributed Autonomous Robotic Systems

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