Communications design in multi-robotic systems

摘要

This paper describes the process for the design of communications in multi-robot systems using two approaches: centralized and decentralized architectures. Both approaches achieve joint collaboration through inter-robot coordination via exchange of sensor data and state information. As shown in a previous paper, depending on the tasks and the environment, the effects of explicit communications on centralized and decentralized control architectures for cooperative tasks are different. A comprehensive design process of the whole system for multi-robot task allocation will be discussed. Issues with the network design are introduced and possible solutions provided.