In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel, frame-theoretic, measure of resilience which allows us to analyze and enforce resilient behaviors of multi-robot systems. The properties of resilience and energy-awareness are encoded as constraints of a convex optimization program which is used to synthesize the robot control inputs. This allows for the combination of such properties with the execution of coordinated tasks to achieve resilient and energy-aware robot operations. The effectiveness of the proposed method is illustrated in a simulated scenario where a team of robots is deployed to execute two tasks subject to energy and resilience constraints.

翻译：在对多机器人系统的制约驱动控制方面,我们在本文件中提出一个最优化框架,能够确保机器人团队的抗御能力和能源意识;该方法基于一种新型的、框架理论的抗御度测量方法,使我们能够分析和执行多机器人系统的抗御行为;复原力和能源意识的特性被编为用于合成机器人控制投入的螺旋优化程序的制约;这样就可以将此类特性与执行协调的任务结合起来,实现抗御力和能觉的机器人操作;在模拟假设中说明了拟议方法的有效性,即部署一组机器人执行两项受能源和抗御制约的任务。