论文标题
毫米波工业场景中的多机器人协会路径计划
Multi-Robot Association-Path Planning in Millimeter-Wave Industrial Scenarios
论文作者
论文摘要
对机器人对工业4.0的大量剥削需要高级无线解决方案，以取代灵活性较小且昂贵的有线网络。在这方面，毫米波（MM波）可以提供较高的数据速率，但它们的特征是需要密集的无线电部署。在这种情况下，覆盖孔和众多切换可能会降低通信吞吐量和可靠性。与常规的多机器人路径计划（MPP）相反，我们定义了一种多机器人协会路径计划（MAPP）问题，目的是共同优化机器人路径和机器人访问点（APS）关联。在MAPP中，我们专注于最大程度地减少路径长度以及交换的数量，同时维持连通性。我们提出了一种可以在多项式时间求解MAPP的算法，并且能够在数值上接近全局最佳。我们表明，所提出的解决方案能够保证网络连接性并大大减少切换数量，而不是最小化路径长度。
The massive exploitation of robots for industry 4.0 needs advanced wireless solutions that replace less flexible and more costly wired networks. In this regard, millimeter-waves (mm-waves) can provide high data rates, but they are characterized by a spotty coverage requiring dense radio deployments. In such scenarios, coverage holes and numerous handovers may decrease the communication throughput and reliability. In contrast to conventional multi-robot path planning (MPP), we define a type of multi-robot association-path planning (MAPP) problems aiming to jointly optimize the robots' paths and the robots-access points (APs) associations. In MAPP, we focus on minimizing the path lengths as well as the number of handovers while sustaining connectivity. We propose an algorithm that can solve MAPP in polynomial time and it is able to numerically approach the global optimum. We show that the proposed solution is able to guarantee network connectivity and to dramatically reduce the number of handovers in comparison to minimizing only the path lengths.
