Logo image
Back
Robust communication connectivity for multi-robot path coordination using Mixed Integer Nonlinear Programming: Formulation and feasibility analysis
Conference proceeding   Open access

Robust communication connectivity for multi-robot path coordination using Mixed Integer Nonlinear Programming: Formulation and feasibility analysis

Pramod Abichandani, Hande Y Benson, Moshe Kam and IEEE
2013 IEEE International Conference on Robotics and Automation, pp 3600-3605
May 2013
DOI: https://doi.org/10.1109/ICRA.2013.6631082
Featured in Collection :   UN Sustainable Development Goals @ Drexel
url
https://doi.org/10.1109/icra.2013.6631082View
Published, Version of Record (VoR)Maybe Open Access (Publisher Bronze),  Open
url
https://doi.org/10.1109/ICRA.2013.6631082View
Published, Version of Record (VoR) Open

Abstract

Collision avoidance Planning Receivers Robot kinematics Signal to noise ratio Splines (mathematics)
Mixed Integer Nonlinear Programming (MINLP) techniques are increasingly used to address challenging problems in robotics, especially Multi-Vehicle Motion Planning (MVMP). A particular challenge in using this framework is encoding stochastic phenomena such as communication connectivity in the form of MINLP constraints. The main contribution of this paper is an analytical formulation of communication connectivity constraints using stochastic physical layer communication models. These constraints account for the log-normal channel shadowing in noisy communication environments and specify inter-vehicle connectivity in terms of the outage probability of communication. A method is developed to provably accord robustness to communication failure by specifying an upper bound on the outage probability in terms of the inter-vehicle communication range. Finally, we demonstrate the utility of this formulation in the context of a realistic decentralized Multi-Vehicle Path Coordination (MVPC) scenario in which multiple robotic vehicles travel along predetermined fixed paths and are required to maintain communication connectivity during their transit. Conditions that affect the feasibility of the MVPC problem are formalized. Examples that assist in visualizing these conditions are provided.

Metrics

5 Record Views
1 citations in Web of Science
4 citations in Scopus

Details

UN Sustainable Development Goals (SDGs)

This publication has contributed to the advancement of the following goals:

#11 Sustainable Cities and Communities

InCites Highlights

Data related to this publication, from InCites Benchmarking & Analytics tool:

Web of Science research areas
Automation & Control Systems
Engineering, Electrical & Electronic
Robotics
Logo image