Multi-Robot Coordination

摘要

This chapter presents a survey of work within the cooperative robotics, focusing specifically on multi-robot coordination. It aims to segment the multi-robot coordination problem into five fundamental phases—magnetic resonance spectroscopy (MRS), coordination, controllers, software architecture and control a group of robots. The principled synthesis of MRS controllers in the presence of uncertainties and inaccuracies of sensorial data and environmental noise is a challenging task. The challenges of multi-robots can be seen in a system where multiple robots have to coordinate their actions, and it is infeasible to model all possible joint actions since this number grows exponentially with the number of robots. The onboard control architecture on a robot in the system is organized into four modules: hardware server governing hardware interaction, control integrating sensor and motion information, executive for application development and interface modules for debugging and tracing. Multi-robot frameworks categorize their coordination into different approaches, thereby grouping similar coordination methods together.