{"title":"Flocking fragmentation formulation for a multi-robot system under multi-hop and lossy ad hoc networks","authors":"Silan Li, Shengyu Zhang, Tao Jiang","doi":"10.1631/fitee.2300295","DOIUrl":null,"url":null,"abstract":"<p>We investigate the impact of network topology characteristics on flocking fragmentation for a multi-robot system under a multi-hop and lossy ad hoc network, including the network’s hop count features and information’s successful transmission probability (STP). Specifically, we first propose a distributed communication–calculation–execution protocol to describe the practical interaction and control process in the ad hoc network based multi-robot system, where flocking control is realized by a discrete-time Olfati-Saber model incorporating STP-related variables. Then, we develop a fragmentation prediction model (FPM) to formulate the impact of hop count features on fragmentation for specific flocking scenarios. This model identifies the critical system and network features that are associated with fragmentation. Further considering general flocking scenarios affected by both hop count features and STP, we formulate the flocking fragmentation probability (FFP) by a data fitting model based on the back propagation neural network, whose input is extracted from the FPM. The FFP formulation quantifies the impact of key network topology characteristics on fragmentation phenomena. Simulation results verify the effectiveness and accuracy of the proposed prediction model and FFP formulation, and several guidelines for constructing the multi-robot ad hoc network are concluded.</p>","PeriodicalId":12608,"journal":{"name":"Frontiers of Information Technology & Electronic Engineering","volume":null,"pages":null},"PeriodicalIF":2.7000,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Frontiers of Information Technology & Electronic Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1631/fitee.2300295","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
We investigate the impact of network topology characteristics on flocking fragmentation for a multi-robot system under a multi-hop and lossy ad hoc network, including the network’s hop count features and information’s successful transmission probability (STP). Specifically, we first propose a distributed communication–calculation–execution protocol to describe the practical interaction and control process in the ad hoc network based multi-robot system, where flocking control is realized by a discrete-time Olfati-Saber model incorporating STP-related variables. Then, we develop a fragmentation prediction model (FPM) to formulate the impact of hop count features on fragmentation for specific flocking scenarios. This model identifies the critical system and network features that are associated with fragmentation. Further considering general flocking scenarios affected by both hop count features and STP, we formulate the flocking fragmentation probability (FFP) by a data fitting model based on the back propagation neural network, whose input is extracted from the FPM. The FFP formulation quantifies the impact of key network topology characteristics on fragmentation phenomena. Simulation results verify the effectiveness and accuracy of the proposed prediction model and FFP formulation, and several guidelines for constructing the multi-robot ad hoc network are concluded.
期刊介绍:
Frontiers of Information Technology & Electronic Engineering (ISSN 2095-9184, monthly), formerly known as Journal of Zhejiang University SCIENCE C (Computers & Electronics) (2010-2014), is an international peer-reviewed journal launched by Chinese Academy of Engineering (CAE) and Zhejiang University, co-published by Springer & Zhejiang University Press. FITEE is aimed to publish the latest implementation of applications, principles, and algorithms in the broad area of Electrical and Electronic Engineering, including but not limited to Computer Science, Information Sciences, Control, Automation, Telecommunications. There are different types of articles for your choice, including research articles, review articles, science letters, perspective, new technical notes and methods, etc.