Event-Triggered Connectivity Maintenance of a Teleoperated Multirobot System
Why this work is in the frame
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Bibliographic record
Abstract
The information that the robots of a teleoperated multirobot system need to exchange to remain connected as they follow the commands of the human operator may strain their communications. To lighten their communications, this article proposes a distributed coordination strategy that relies onevent-triggered communications freed of Zeno behavior through hybrid dynamic event triggering. The proposed strategy maintains the multirobot system globally connected for increased agility in cluttered environments, and maintains the teleoperator passive for stable teleoperation. With the proposed coordination, the robots avoid collisions with obstacles and with each other, and eventually travel at the same velocity and maintain their desired spacings. Teleoperation of a simulated three-robot team illustrates the communications savings, and the connectivity maintenance and obstacle avoidance performance, of the proposed event-triggered distributed coordination controller.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it