In this paper, we consider the self-repairing problem from the viewpoint of robotics and our objective is not only to restore the logical network topology but also to maintain the motion synchronization of the physical mobile robot formation. A gradient-based self-repairing algorithm which only relies on the local interactions among coupling robots is presented. More specifically, aiming to optimize the repair path in a distributed manner, a gradient generation and diffusion mechanism is presented first, which can generate a stable gradient distribution in the robot formation. Then, based on the recursive self-repairing technique and the proposed gradient distribution, several self-repairing rules as well as the corresponding individual control method are presented to solve the self-repairing problem. The improvement of the proposed algorithm on the motion synchronism of the robot formation and the optimality of the selected repair path are proved by theoretical analyses. Finally, the effectiveness and the practical applicability of the proposed algorithm are validated by simulations and real experiments.

中文翻译：

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一种保持移动机器人网络运动同步的具有最优修复路径的自修复算法

在本文中，我们从机器人学的角度考虑自修复问题，我们的目标不仅是恢复逻辑网络拓扑，而且还要保持物理移动机器人编队的运动同步。提出了一种基于梯度的自修复算法，该算法仅依赖于耦合机器人之间的局部交互。更具体地说，为了以分布式方式优化修复路径，首先提出了梯度产生和扩散机制，可以在机器人编队中产生稳定的梯度分布。然后，基于递归自修复技术和提出的梯度分布，提出了几种自修复规则以及相应的个体控制方法来解决自修复问题。理论分析证明了该算法对机器人编队运动同步性的改进和所选修复路径的最优性。最后，通过仿真和实际实验验证了所提算法的有效性和实际适用性。