This paper aims to investigate an actively configured communication system to resolve the communication issues within heterogeneous multi-robot systems performing collaborative tasks.
This paper proposes an actively configured communication system for heterogeneous multi-robot cooperative control featuring a rationally communication framework, integrated communication nodes and an actively configured control algorithm to ensure robustness in dynamic environments. The communication framework underpins cooperative control. To address consistency issues in communication, positioning and control functions across heterogeneous multi-robot systems, an integrated communication node has been developed that combines communication, positioning and computation functionalities. Furthermore, considering the connectivity of the system’s communication, this paper incorporates communication constraints into cooperative control based on the proposed communication node, leading to the development of an actively configured control algorithm.
The proposed actively configured communication system has been deployed across various robot platforms to build a heterogeneous multi-robot cooperative control system. The functionalities of the communication system are validated in real-world scenarios through cooperative formation and exploration experiments. The experimental results demonstrate that the proposed heterogeneous multi-robot communication system is both stable and effective.
The communication system studied in this paper can effectively address the issue of communication consistency in heterogeneous multi-robot cooperative control tasks, especially for distributed environments requiring various cooperative tasks.
