论文标题
对多机器人系统中通信的批判性审查
A Critical Review of Communications in Multi-Robot Systems
论文作者
论文摘要
审查的目的。这篇评论总结了通信格式和技术在启用多机器人系统中发挥的广泛作用。我们从两个角度了解了这一领域：需要通信功能才能完成任务的机器人应用程序，以及使得启用了更新，更高级的多机器人系统的网络技术。 最新发现。通过这篇综述，我们确定了一项缺乏工作，从整体上解决了对机器人及其使用的网络的共同设计和合作的问题。我们还强调了数据驱动和机器学习方法在不断发展的多机器人系统的通信管道中所扮演的角色。特别是，我们指的是最近与手工设计的通信模式不同的工作，并在这种情况下讨论了“ SIM到真实”差距。 概括。我们介绍了机器人算法及其网络系统发展的方式的批判性观点，并为更协同的方法提供了理由。最后，我们还为研发确定了四个广泛的开放问题，同时提供了一个以数据为基础的观点来解决其中的一些问题。
Purpose of Review. This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication capabilities in order to accomplish tasks, and of networking technologies that have enabled newer and more advanced multi-robot systems. Recent Findings. Through this review, we identify a dearth of work that holistically tackles the problem of co-design and co-optimization of robots and the networks they employ. We also highlight the role that data-driven and machine learning approaches play in evolving communication pipelines for multi-robot systems. In particular, we refer to recent work that diverges from hand-designed communication patterns, and also discuss the "sim-to-real" gap in this context. Summary. We present a critical view of the way robotic algorithms and their networking systems have evolved, and make the case for a more synergistic approach. Finally, we also identify four broad Open Problems for research and development, while offering a data-driven perspective for solving some of them.
