论文标题
DEC-LOS-RRT：具有视线约束通信的多机器人系统的分散路径计划
DEC-LOS-RRT: Decentralized Path Planning for Multi-robot Systems with Line-of-sight Constrained Communication
论文作者
论文摘要
多机构系统的分散计划，例如搜索和救援操作中的机器人机器人，通常受到代理如何相互通信的限制。这样的限制就是一种情况，只有当代理只有在视线范围（LOS）时相互通信。在这种情况下，开发确保安全性的分散规划方法很困难，因为彼此遮挡的代理可能无法交流，直到为时已晚，无法避免违反安全性。在本文中，我们开发了一种分散的计划方法，该方法明确避免了其他代理人缺乏可见性会导致不安全情况的情况。在现有的基于现有的快速探索随机树（RRT）的方法之上，我们的方法可确保每次迭代时的安全性。仿真研究表明了我们方法的有效性，并比较了千里联分散的计划算法的性能下降，尽管尽管没有彼此相互融合，但在该算法中，代理可以进行交流。
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can communicate with each other only when they are in line-of-sight (LOS). Developing decentralized planning methods that guarantee safety is difficult in this case, as agents that are occluded from each other might not be able to communicate until it's too late to avoid a safety violation. In this paper, we develop a decentralized planning method that explicitly avoids situations where lack of visibility of other agents would lead to an unsafe situation. Building on top of an existing Rapidly-exploring Random Tree (RRT)-based approach, our method guarantees safety at each iteration. Simulation studies show the effectiveness of our method and compare the degradation in performance with respect to a clairvoyant decentralized planning algorithm where agents can communicate despite not being in LOS of each other.
