外观
论文arXiv 2610.0732023 天前
面向机器人群最小长度通信网络的去中心化构建
原文链接：Towards Decentralized Formation of Minimum-Length Communication Networks Using Robot Swarms（arXiv 2610.07320 · 发布日期：2026-10-05）
Towards Decentralized Formation of Minimum-Length Communication Networks Using Robot Swarms
提出仅依靠局部交互的全去中心化框架，在具身仿真和实体多机器人实验中构建并维护近似最短的通信网络。
核心要点
- 无基础设施环境中的多机器人任务，需要在相隔位置间保持可靠通信链路。
- 框架无需集中式拓扑规划或全局定位，仅凭局部交互重构拓扑并调整位置。
- 形式化分析证明保持连通、每次分支转移缩短网络，并给出最坏性能界。
- 仿真与实体实验显示网络长度接近集中计算的欧氏 Steiner 树，并可适应移动目标。
验证范围与局限：验证范围为具身仿真和实体多机器人实验，涉及网络形成、移动目标适应和必要连接器部署。
英文摘要 (Abstract)
Multi-robot missions in infrastructure-denied environments frequently rely on reliable communication links between spatially separated locations. We propose a fully decentralized framework for constructing and dynamically maintaining communication networks without centralized topology planning or global positioning infrastructure. Driven strictly by local interactions, robots reconfigure local network topologies and adjust their physical positions to minimize overall network length while adhering to communication constraints. Formal analysis shows that our local reconfiguration operations guarantee continuous network connectivity, strictly decrease network length with every branch transfer, and bound worst-case performance to the shortest starlike tree. Embodied simulations and physical multi-robot experiments confirm that our approach forms networks near the length of centrally computed Euclidean Steiner trees. Additionally, the system dynamically adapts to moving targets and optimizes deployment by utilizing only necessary connectors, preserving excess robots for auxiliary tasks. This work enables autonomous swarms to self-organize adaptive ad hoc communication infrastructure in communication-denied environments, which could support applications varying from subterranean exploration to planetary missions.
作者：Genki Miyauchi, Mohamed S. Talamali, Julian Rau, Roderich Groß
来源
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