论文标题
部分可观测时空混沌系统的无模型预测
A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms
论文作者
论文摘要
机器人群的拓扑会影响共识的收敛速度和机器人的迁移率。在本文中，我们证明了一套完整的局部拓扑操作操作的存在，这些操作允许转换群拓扑。该集合是完整的，从某种意义上说，可以通过我们集合的一系列操作来执行任何其他可能的操作操作集。这些操作是本地的，因为它们仅依赖于第一和第二HOP邻居的信息，以将网络图的任何初始跨越树转换为具有相同数量的节点的任何其他连接的树。我们方法提供的灵活性类似于需要全面了解群网络的全局方法。我们证明了任何树对树转换的转换序列的存在，并得出了从任何初始跨越树形成线或星的操作序列。我们的工作提供了一个理论和实用的框架，用于对群体的拓扑控制，仅使用本地信息来建立全球属性。
The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a swarm topology. The set is complete in the sense that any other possible set of manipulation operations can be performed by a sequence of operations from our set. The operations are local as they depend only on the first and second hop neighbors' information to transform any initial spanning tree of the network's graph to any other connected tree with the same number of nodes. The flexibility provided by our method is similar to global methods that require full knowledge of the swarm network. We prove the existence of a sequence of transformations for any tree-to-tree transformation, and derive sequences of operations to form a line or star from any initial spanning tree. Our work provides a theoretical and practical framework for topological control of a swarm, establishing global properties using only local information.
