The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear constraints on the trajectories of the robots are introduced to ensure communication performance and collision avoidance. The Fiedler value is adopted as communication performance metric. The validity of the method in computing both feasible and optimal trajectories for the robots is demonstrated both in simulation and experimentally. Results show that the constraint on the Fiedler value ensures that the robot network fulfils its objective while maintaining communication connectivity at all times. Further, the paper shows that the introduction of approximations for the constraints enables a significant improvement in the computational time of the solution, which remain very close to the optimal solution.

翻译：本文提出了一种解决多机器人通信感知轨迹规划问题的新方法，该方法建立在一个通用的优化框架之上。该框架以机器人位置变化作为决策变量，并引入机器人轨迹的线性约束以保证通信性能与避碰要求。研究采用费德勒值作为通信性能的度量指标。通过仿真与实验验证了该方法在计算机器人可行轨迹与最优轨迹方面的有效性。结果表明，对费德勒值的约束能确保机器人网络在始终维持通信连通性的同时完成目标任务。此外，本文证明通过对约束条件引入近似处理，可在保持解与最优解高度接近的前提下显著提升计算效率。