Muestreo y comunicaciónimpacto en el control de formaciones en sistemas multi-robot heterogéneos

  1. Mañas-Álvarez, Francisco-José 1
  2. Guinaldo, María 1
  3. Dormido, Raquel 1
  4. Dormido, Sebastián 1
  1. 1 Universidad Nacional de Educación a Distancia
    info

    Universidad Nacional de Educación a Distancia

    Madrid, España

    ROR https://ror.org/02msb5n36

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Any de publicació: 2024

Volum: 21

Número: 2

Pàgines: 125-136

Tipus: Article

DOI: 10.4995/RIAI.2023.20155 DIALNET GOOGLE SCHOLAR lock_openAccés obert editor

Altres publicacions en: Revista iberoamericana de automática e informática industrial ( RIAI )

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Resum

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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