论文标题
连接维护：通过控制障碍功能的全球和优化方法
Connectivity Maintenance: Global and Optimized approach through Control Barrier Functions
论文作者
论文摘要
连接维护是在控制多机器人系统时要考虑的重要方面。通常，应连接多机器人系统以获得某个共同的目标。无论控制策略如何或多机器人系统的目标，都必须保持连接性。有两种主要方法进行连接维护：保持初始连接（本地连接）或允许对初始连接进行修改，但始终保持整体系统连接（全局连接）。在本文中，我们提出了一种允许同时维持全球连接性并实施所需的控制策略（例如共识，形成控制，覆盖范围）的方法。为此，我们定义并实现了可以结合约束和目标的控制屏障功能。我们提供了该方法的数学证明，并通过对不同应用的模拟证明了它的多功能性。
Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common objective. Connectivity must be kept regardless of the control strategy or the objective of the multi-robot system. Two main methods exist for connectivity maintenance: keep the initial connections (local connectivity) or allow modifications to the initial connections, but always keeping the overall system connected (global connectivity). In this paper we present a method that allows, at the same time, to maintain global connectivity and to implement the desired control strategy (e.g., consensus, formation control, coverage), all in an optimized fashion. For this purpose, we defined and implemented a Control Barrier Function that can incorporate constraints and objectives. We provide a mathematical proof of the method, and we demonstrate its versatility with simulations of different applications.
