A Survey on Multi-Robot Coordination in Electromagnetic Adversarial Environment: Challenges and Techniques

Yunlong Wu,Hao Zhou,Yanzhen Wang,Xiaoguang Ren,Xiaodong Yi

doi:10.1109/access.2020.2981408

Abstract

Wireless communications and networking are playing an important role in coordination and cooperation of multi-robot systems (MRS). However, it is challenging to keep a reliable and stable wireless connection in practical applications. Especially, robots acting in electromagnetic adversarial (EA) environments may encounter more serious situations including scarce spectrum, active interference, adversarial competition, etc. In this survey, we firstly analyze the challenges faced by MRS in EA environments, and provide a categorization according to the “sense-decide-act” robot control procedure. Secondly, enabling techniques for each challenge are introduced. Finally, typical robotics software architectures are introduced, as frameworks for efficient arrangement of the above mentioned enabling techniques.

Highlights

Bill Gates published an article in Scientific American in 2007, named a robot in every home
Compared with single-robot systems, a system consisting of multiple robots can largely improve the task performance by coordination, which is more suitable for challenging tasks and complex environment
Considerable research contributions have been made to the evolution of multi-robot system (MRS), and this trend will continue in the coming decades [5]

Summary

INTRODUCTION

Bill Gates published an article in Scientific American in 2007, named a robot in every home. Y. Wu et al.: Survey on Multi-Robot Coordination in EA Environment: Challenges and Techniques. In this environment, the task robots may face more adversarial hindrances from the jamming robots. The above models can be uniformly represented as the ‘‘sense-decide-act’’ behavior chain, and the multi-robot coordination in EA environment can be carried out according to this model. We hope the research results of this survey may provide a theoretical reference for the research of multi-robot coordination in EA environment

MAIN CHALLENGES

SOFTWARE ARCHITECTURE

CONCLUSION