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Provably Safe Multi-Robot Coordination With Unreliable Communication
Research Center E. Piaggio, University of Pisa, Pisa, Italy.ORCID iD: 0000-0003-1627-0921
Research Center E. Piaggio, University of Pisa, Pisa, Italy.ORCID iD: 0000-0002-9480-8857
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems)ORCID iD: 0000-0002-9652-7864
2019 (English)In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 4, no 4, p. 3232-3239Article in journal (Refereed) Published
Abstract [en]

Coordination is a core problem in multi-robot systems, since it is a key to ensure safety and efficiency. Both centralized and decentralized solutions have been proposed, however, most assume perfect communication. This letter proposes a centralized method that removes this assumption, and is suitable for fleets of robots driven by generic second-order dynamics. We formally prove that: first, safety is guaranteed if communication errors are limited to delays; and second, the probability of unsafety is bounded by a function of the channel model in networks with packet loss. The approach exploits knowledge of the network's non-idealities to ensure the best possible performance of the fleet. The method is validated via several experiments with simulated robots.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. Vol. 4, no 4, p. 3232-3239
Keywords [en]
Multi-robot systems, planning, scheduling and coordination, formal methods in robotics and automation
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-75700DOI: 10.1109/LRA.2019.2924849ISI: 000476791300016Scopus ID: 2-s2.0-85069779068OAI: oai:DiVA.org:oru-75700DiVA, id: diva2:1342847
Funder
EU, Horizon 2020, 732737
Note

Funding Agency:

Swedish Knowledge Foundation (KKS) under the Semantic Robots research profile

Available from: 2019-08-14 Created: 2019-08-14 Last updated: 2019-08-14Bibliographically approved

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Pecora, Federico

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  • apa
  • harvard1
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