複数Lyapunov関数によるマルチロボットネットワークの分散目標割当と安全な軌道生成
Decentralized Goal Assignment and Safe Trajectory Generation in Multi-Robot Networks via Multiple Lyapunov Functions
局所通信のみで動くマルチロボット群に対し、Lyapunov関数とバリア関数を切り替えて目標割当と衝突回避を両立する分散制御手法を提案し、6台の地上ロボット実験で有効性を示した。
著者: Dimitra Panagou, Matthew Turpin, Vijay Kumar
分類: cs.MA, cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, and proposes an approach based on methods related to switched systems and set invariance. A family of Lyapunov-like functions is employed to encode the (local) decision making among candidate goal assignments, under which a group of connected agents chooses the assignment that results in the shortest total distance to the goals. An additional family of Lyapunov-like barrier functions is activated in the case when the optimal assignment may lead to colliding trajectories, maintaining thus system safety while preserving the convergence guarantees. The proposed switching strategies give rise to feedback control policies that are computationally efficient and scalable with the number of agents, and therefore suitable for applications including first-response deployment of robotic networks under limited information sharing. The efficacy of the proposed method is demonstrated via simulation results and experiments with six ground robots.
