Flocking fragmentation formulation for a multi-robot system under multi-hop and lossy ad hoc networks  

作　　者：Silan LI Shengyu ZHANG Tao JIANG 

机构地区：[1]The Research Center of 6G Mobile Communications,School of Cyber Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China [2]Wuhan National Laboratory for Optoelectronics,Huazhong University of Science and Technology,Wuhan 430074,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2024年第8期1057-1076,共20页信息与电子工程前沿（英文版）

基　　金：supported by the National Key Research and Development Program of China(No.2019YFB1803400)。

摘　　要：We investigate the impact of network topology characteristics on focking fragmentation for a multi-robot system under a multi-hop and lossy ad hoc network,including the network's hop count features and information's successful transmission probability(STP).Specifically,we first propose a distributed communication calculation execution protocol to describe the practical interaction and control process in the ad hoc network based multi-robot system,where focking control is realized by a discrete-time Olfati-Saber model incorporating STP-related variables.Then,we develop a fragmentation prediction model(FPM)to formulate the impact of hop count features on fragmentation for specific focking scenarios.This model identifies the critical system and network features that are associated with fragmentation.Further considering general focking scenarios affected by both hop count features and STP,we formulate the flocking fragmentation probability(FFP)by a data fitting model based on the back propagation neural network,whose input is extracted from the FPM.The FFP formulation quantifies the impact of key network topology characteristics on fragmentation phenomena.Simulation results verify the effectiveness and accuracy of the proposed prediction model and FFP formulation,and several guidelines for constructing the multi-robot ad hoc network are concluded.

关 键 词：Multi-robot flocking Flocking fragmentation probability Fragmentation prediction Multi-robot communication networks 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]