论文标题
在随机网络中的信息广播中退缩的地平线控制
Receding Horizon Control on the Broadcast of Information in Stochastic Networks
论文作者
论文摘要
本文着重于具有随机网络互连拓扑的机器人网络信息的广播。有问题的通信网络几乎不可避免地在我们希望部署多动物系统的领域，通常是由于缺乏环境一致性，可访问性和结构。我们通过将多机器人通信网络中的信息广播建模为随机到达时间的随机过程来解决这个问题，这可以由不规则的机器人运动，无线衰减和其他环境因素产生。使用此模型，我们提供并分析了一个后退的视野控制策略，以控制信息广播的统计数据。由此产生的策略迫使机器人根据当前的传播过程将其通信资源重新指向不同的邻居，以满足全球广播要求。基于此方法，我们提供了一种方法来计算将消息广播到所有节点的预期时间。提供数值示例以说明结果。
This paper focuses on the broadcast of information on robot networks with stochastic network interconnection topologies. Problematic communication networks are almost unavoidable in areas where we wish to deploy multi-robotic systems, usually due to a lack of environmental consistency, accessibility, and structure. We tackle this problem by modeling the broadcast of information in a multi-robot communication network as a stochastic process with random arrival times, which can be produced by irregular robot movements, wireless attenuation, and other environmental factors. Using this model, we provide and analyze a receding horizon control strategy to control the statistics of the information broadcast. The resulting strategy compels the robots to re-direct their communication resources to different neighbors according to the current propagation process to fulfill global broadcast requirements. Based on this method, we provide an approach to compute the expected time to broadcast the message to all nodes. Numerical examples are provided to illustrate the results.
