時変密度関数による複数ロボットの制御
Multi-Robot Control Using Time-Varying Density Functions
時間とともに変化する密度関数を目標分布として与え、ロボット群が最適にカバーするよう動く連続時間アルゴリズムとその分散近似を提案し、シミュレーションと実機実験で有効性を示した。
著者: Sung G. Lee, Magnus Egerstedt
分類: math.OC, cs.RO
原文アブストラクト
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time algorithm is proposed that moves the robots so as to provide optimal coverage given the density functions as they evolve over time. The developed algorithm represents an extension to previous coverage algorithms in that time-varying densities are explicitly taken into account in a provable manner. A distributed approximation to this algorithm is moreover proposed whereby the robots only need to access information from adjacent robots. Simulations and robotic experiments show that the proposed algorithms do indeed exhibit the desired behaviors in practice as well as in theory.
