Multi-robot energy autonomy with wind and constrained resources
This work addresses energy management for battery-powered robots in constrained environments, but it is incremental as it extends previous results by incorporating wind and drag factors.
The paper tackled the problem of ensuring energy sufficiency in multi-robot systems with limited charging facilities by developing a mission-agnostic framework based on control barrier functions to coordinate robots sharing a single station while accounting for air drag and wind effects, and demonstrated its effectiveness through simulation results.
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access. In this work we extend previous results by considering robots that carry out a generic mission while sharing a single charging station, while being affected by air drag and wind fields. Our mission-agnostic framework based on control barrier functions (CBFs) ensures energy sufficiency (i.e., maintaining all robots above a certain voltage threshold) and proper coordination (i.e., ensuring mutually exclusive use of the available charging station). Moreover, we investigate the feasibility requirements of the system in relation to individual robots' properties, as well as air drag and wind effects. We show simulation results that demonstrate the effectiveness of the proposed framework.