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Muestreo y comunicación: impacto en el control de formaciones en sistemas multi-robot heterogéneos

  • Mañas-Álvarez, Francisco-José [1] ; Guinaldo, María [1] Árbol académico ; Dormido, Raquel [1] Árbol académico ; Dormido, Sebastián [1] Árbol académico
    1. [1] Universidad Nacional de Educación a Distancia

      Universidad Nacional de Educación a Distancia

      Madrid, España

  • Localización: Revista iberoamericana de automática e informática industrial ( RIAI ), ISSN-e 1697-7920, Vol. 21, Nº. 2, 2024, págs. 125-136
  • Idioma: español
  • DOI: 10.4995/riai.2023.20155
  • Títulos paralelos:
    • Sampling and communication: impact on formation control in heterogeneous multi-robot systems
  • Enlaces
  • Resumen
    • español

      Este trabajo presenta el análisis del efecto de la frecuencia de muestreo y comunicación en un sistema multi-robot (SMR) en su desempeño temporal y en la carga computacional. El sistema experimental está compuesto por robots móviles del tipo Khepera IV y robots aéreos del tipo Crazyflie 2.1. El análisis se realiza sobre el movimiento del SMR desde unas condiciones iniciales hasta una formación deseada, que se define en base a un conjunto de distancias relativas deseadas entre agentes. Se evalúan tres escenarios en relación a la arquitectura del nivel de control: centralizado, distribuido en ROS 2 y distribuido a bordo del robot. Se determina la frecuencia mínima operativa para un muestreo periódico, y se presenta un protocolo de muestreo basado en eventos como propuesta para la reducción de transmisiones de mensajes. Para este caso, se determina un umbral constante óptimo, con un desempeño temporal equivalente al muestreo periódico óptimo, pero con una reducción del muestreo de un 80%.

    • English

      This work presents the analysis of the sampling an communication frequencies in a multi-robot system (MRS) and its effect over the temporal performance and computational load. The experimental system is composed of mobile robots (the Khepera IV), and a type of aerial robots, the Crazyflie 2.1. The analysis is performed for the formation control of the MRS from initial conditions to a desired formation, which is defined in terms of relative distances between agents. Three scenarios regarding the control architecture are evaluated: centralized, distributed in ROS 2, and distributed onboard the robot. The minimum operating frequency for periodic sampling is determined, and an event-based sampling protocol is presented to reduce the number of transmitted messages. In this case, the optimal constant threshold that provides an equivalent temporal performance is determined, but with a reduction in the number of samples of around 80%.

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