In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes perfect positional information about robots or enforces overly restrictive rigid formation against uncertainty, our method enables robots to preserve Line-of-Sight connectivity with high probability under unbounded Gaussian-like positional noises while remaining minimally intrusive to the original robots' tasks. This is achieved by a motion coordination framework that jointly optimizes the set of existing Line-of-Sight edges to preserve and control revisions to the nominal task-related controllers, subject to the safety constraints and the corresponding composition of uncertainty-aware Line-of-Sight control constraints. Such compositional control constraints, expressed by our novel notion of probabilistic Line-of-Sight connectivity barrier certificates (PrLOS-CBC) for pairwise robots using control barrier functions, explicitly characterize the deterministic admissible control space for the two robots. The resulting motion ensures Line-of-Sight connectedness for the robot team with high probability. Furthermore, we propose a fully decentralized algorithm that decomposes the motion coordination framework by interleaving the composite constraint specification and solving for the resulting optimization-based controllers. The optimality of our approach is justified by the theoretical proofs. Simulation and real-world experiments results are given to demonstrate the effectiveness of our method.

翻译：本文提出了一种新颖的分散式控制方法，用于在存在高斯分布定位不确定性的情况下维持多机器人网络的视线连通性。与大多数现有研究假设机器人位置信息完全准确，或采用过度严格的刚性编队来对抗不确定性不同，我们的方法使机器人在无界类高斯位置噪声下能够以高概率保持视线连通性，同时最大限度减少对机器人原有任务的干扰。该方法通过一个运动协调框架实现，该框架联合优化待保留的现有视线边集，并在安全约束和不确定性感知视线控制约束的复合条件下，对名义任务相关控制器进行受控修正。此类复合控制约束通过我们提出的基于控制屏障函数的成对机器人概率视线连通性屏障证书新概念进行表述，显式刻画了两个机器人的确定性可容许控制空间。由此产生的运动确保机器人团队以高概率保持视线连通性。此外，我们提出了一种完全分散式算法，通过交错执行复合约束规范与求解基于优化的控制器，实现运动协调框架的分解。理论证明验证了本方法的最优性。仿真与实物实验结果表明了该方法的有效性。