A Distributed Framework for Integrated Task Allocation and Safe Coordination in Networked Multi-Robot Systems

摘要

Deploying a team of autonomous robots, operating collaboratively towards a common objective within dynamic environments, has the potential to improve the system efficiency across several fields. This paper proposes a distributed comprehensive framework enabling a networked multi-robot system to serve time-varying requests arising from different locations within the environment in a distributed and safe manner, i.e., by guaranteeing no collisions with possible obstacles and preserving connectivity among the robots. To this aim, a two-layer architecture is proposed where the top layer is in charge of distributively assigning new service requests to the robots by resorting to an auction-based algorithm, while the bottom layer is in charge of safely navigating the environment to serve the assigned requests by relying on Control Barrier Functions. However, the presence of connectivity constraints might affect the number of service requests that the multi-robot system can handle simultaneously and might lead to deadlock situations where robots cannot reach the designated locations due to loss of network connectivity. Hence, a distributed strategy based on consensus algorithms to detect and solve deadlocks in a distributed fashion is proposed. The completeness of the approach is proved. Simulation results in an agricultural setting and real-world laboratory experiments are provided to validate the effectiveness of the proposed approach.Note to Practitioners—This paper was inspired by the necessity to coordinate a team of robots to perform tasks within an unstructured agricultural field, including both the decision-making and navigation strategies, with no central control unit as envisioned by the European project CANOPIES. To this aim, a distributed approach is designed where robots only rely on local data and information from neighboring robots to assign and execute tasks effectively in a coordinated manner. In addition, as working under local communication constraints may prevent parallel execution of all tasks, potentially leading to deadlock situations, a distributed strategy is developed to enable each robot to detect and solve such situations. The proposed approach can be employed in several domains where the cooperation of multiple autonomous robots might be beneficial, ranging from logistics settings to search and rescue scenarios up to agricultural environments. Laboratory experiments with three robots demonstrate the effectiveness of the approach.