基于Gossip协议的多机器人系统通讯机制的研究  

A Gossip-based Mechanism for Communication in Multi-Robot Systems

作　　者：侯君[1] 

机构地区：[1]上海交通大学软件学院

出　　处：《微型电脑应用》2013年第3期1-3,共3页Microcomputer Applications

基　　金：国家自然科学基金项目资助(60970107)

摘　　要：多机器人系统的移动特性给无线通讯的设计提出挑战。而广泛使用的移动Ad-Hoc网络处理网络拓扑结构不断变化的任务会产生不可预测的计算开销。针对这种不足,该文对广泛应用于分布式信息管理的Gossip协议进行修改,应用于移动多机器人通讯中,并基于该协议提出一种实现机器人规模统计的算法。实验结果表明,该协议在不同规模的机器人系统中,都能有效地完成信息的分发,且不会造成通讯量锐增。The moving character of multi-robot systems offers challenges to wireless communication.But the mobile Ad-Hoc network,which has been widely used in multi-robot systems,will result in unpredictable computing overhead because of the ever-changing network topology.According to the shortages,the gossip protocol which has been widely used in information management of distributed systems can be modified and applied in the communication of mobile robots.To verify the modified gossip protocol,an algorithm for group scale estimation of robots is proposed.The experimental results show that any small and medium-size multi-robot systems which are applied in modified gossip protocol can complete information distribution successfully.And what’s more,the amount of communication will not be affected.

关 键 词：多机器人 GOSSIP协议 分布式 规模统计 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]