Muestreo y comunicaciónimpacto en el control de formaciones en sistemas multi-robot heterogéneos
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Universidad Nacional de Educación a Distancia
info
ISSN: 1697-7920
Año de publicación: 2024
Volumen: 21
Número: 2
Páginas: 125-136
Tipo: Artículo
Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )
Proyectos relacionados
Resumen
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%.
Información de financiación
Financiadores
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Agencia Estatal de Investigación
- PID2020-112658RB-I00/AEI/10.13039/501100011033
- 2021V/-TAJOV/001
- IEData 2016-6
- PID2022-139187OB-I00
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