This work addresses the problem of motion planning for a group of nonholonomic robots under Visible Light Communication (VLC) connectivity requirements. In particular, we consider an inspection task performed by a Robot Chain Control System (RCCS), where a leader must visit relevant regions of an environment while the remaining robots operate as relays, maintaining the connectivity between the leader and a base station. We leverage Mixed-Integer Linear Programming (MILP) to design a trajectory planner that can coordinate the RCCS, minimizing time and control effort while also handling the issues of directed Line-Of-Sight (LOS), connectivity over directed networks, and the nonlinearity of the robots' dynamics. The efficacy of the proposal is demonstrated with realistic simulations in the Gazebo environment using the Turtlebot3 robot platform.

翻译：本文研究了在可见光通信（VLC）连通性需求下一组非完整机器人的运动规划问题。具体而言，我们考虑由机器人链控制系统（RCCS）执行的巡检任务：其中领航机器人必须访问环境中的关键区域，而其余机器人作为中继节点运行，以维持领航机器人与基站之间的连通性。我们利用混合整数线性规划（MILP）设计了一种轨迹规划器，能够协调RCCS的运行，在最小化时间和控制代价的同时，处理有向视距（LOS）、有向网络连通性以及机器人动力学非线性等难题。通过在Gazebo仿真环境中使用Turtlebot3机器人平台进行的真实场景仿真，验证了所提方案的有效性。