论文标题
多机器人系统中的快速双连接恢复，用于稳健的通信维护
Fast Biconnectivity Restoration in Multi-Robot Systems for Robust Communication Maintenance
论文作者
论文摘要
保持强大的通信网络在共同执行优化任务的多机器人团队的成功中起着重要作用。强大的多机器人系统的关键特征是在机器人故障的情况下可以修复通信拓扑本身的能力。在本文中，我们专注于快速双连接性恢复（FBR）问题，该问题旨在修复连接的网络以使其尽可能快地连接，其中双连接网络是无法通过删除一个节点来断开连接的通信拓扑。我们开发了FBR问题的四四限制程序（QCP）公式，该计划提供了一种最佳解决问题的方法。我们还基于图理论提出了FBR问题的近似算法。通过进行实证研究，我们证明了我们提出的近似算法在接近最佳的同时，同时显着超过了现有的解决方案。
Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust multi-robot system is the ability to repair the communication topology itself in the case of robot failure. In this paper, we focus on the Fast Biconnectivity Restoration (FBR) problem, which aims to repair a connected network to make it biconnected as fast as possible, where a biconnected network is a communication topology that cannot be disconnected by removing one node. We develop a Quadratically Constrained Program (QCP) formulation of the FBR problem, which provides a way to optimally solve the problem. We also propose an approximation algorithm for the FBR problem based on graph theory. By conducting empirical studies, we demonstrate that our proposed approximation algorithm performs close to the optimal while significantly outperforming the existing solutions.
