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flocking fragmentation formulation for a multi-robot system under multi-hop and lossy ad hoc networks

Frontiers of Information Technology & Electronic Engineering 2024年第8期25卷 1057-1076页

作者： Silan LI Shengyu ZHANG Tao JIANG The Research Center of 6G Mobile Communications School of Cyber Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan 430074China

We investigate the impact of network topology characteristics on focking fragmentation for a multi-robot system under a multi-hop and lossy ad hoc network,including the network's hop count features and information's successful transmission probability(STP).Specifically,we first propose a distributed communication calculation execution protocol to describe the practical interaction and control process in the ad hoc network based multi-robot system,where focking control is realized by a discrete-time Olfati-Saber model incorporating STP-related ***,we develop a fragmentation prediction model(FPM)to formulate the impact of hop count features on fragmentation for specific focking *** model identifies the critical system and network features that are associated with *** considering general focking scenarios affected by both hop count features and STP,we formulate the flocking fragmentation probability(FFP)by a data fitting model based on the back propagation neural network,whose input is extracted from the *** FFP formulation quantifies the impact of key network topology characteristics on fragmentation *** results verify the effectiveness and accuracy of the proposed prediction model and FFP formulation,and several guidelines for constructing the multi-robot ad hoc network are concluded.

关键词： Multi-robot flocking flocking fragmentation probability fragmentation prediction Multi-robot communication networks

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