CPS: Medium: Collaborative Research: Geometric Distributed Algorithms for Multi-Robot Coordination and Control

CPS：中：协作研究：多机器人协调与控制的几何分布式算法

• 批准号: 1035199
• 负责人: Nancy Lynch
• 金额: $ 34万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-09-15 至 2013-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1035199&HistoricalAwards=false
• 关键词: CPS; Medium; Collaborative; Research; Geometric

The objective of this research is to develop new models of computation for multi-robot systems. Algorithm execution proceeds in a cycle of communication, computation, and motion. Computation is inextricably linked to the physical configuration of the system. Current models cannot describe multi-robot systems at a level of abstraction that is both manageable and accurate. This project will combine ideas from distributed algorithms, computational geometry, and control theory to design new models for multi-robot systems that incorporate physical properties of the systems. The approach is to focus on the high-level problem of exploring an unknown environment while performing designated tasks, and the sub-problem of maintaining network connectivity. Key issues to be studied will include algorithmic techniques for handling ongoing discrete failures, and ways of understanding system capabilities as related to failure rates, geometric assumptions and physical parameters such as robot mobility and communication bandwidth. New metrics will be developed for error rates and robot mobility.Intellectual merit arises from the combination of techniques from distributed algorithms, computational geometry, and control theory to develop and analyze algorithms for multi-robot systems. The project will develop a new class of algorithms and techniques for their rigorous analysis, not only under ideal conditions, but under a variety of error assumptions. The project will test theoretical ideas empirically, on three different multi-robot systems.Broader impacts will include new algorithms for robot coordination, and rigorous understanding of the capabilities of different hardware platforms. Robots are an excellent outreach tool, and provide concrete examples of theory in action.

这项研究的目的是为多机器人系统开发新的计算模型。 算法执行以通信，计算和运动的周期进行。 计算与系统的物理配置密不可分。 当前的模型无法在既可以管理又准确的抽象水平上描述多机器人系统。该项目将结合分布式算法，计算几何学和控制理论的想法，以设计包含系统物理特性的多机器人系统的新模型。这种方法是专注于执行指定任务时探索未知环境的高级问题，以及保持网络连接性的子问题。 要研究的关键问题将包括用于处理正在进行的离散失败的算法技术，以及与故障率，几何假设和物理参数有关的系统功能的理解方式，例如机器人移动性和通信带宽。 将开发出新的指标，以提高错误率和机器人的迁移率。智能优点是由分布式算法，计算几何形状和控制理论的技术组合而产生的，以开发和分析多机器人系统的算法。 该项目将开发一类新的算法和技术，以进行严格的分析，不仅在理想条件下，而且在各种错误假设下。 该项目将在三种不同的多机器人系统上进行经验测试。Broader的影响将包括用于机器人协调的新算法，以及对不同硬件平台功能的严格理解。 机器人是一种出色的外展工具，并提供了作用理论的具体例子。