ブレイド群を用いたマルチロボットシステムのロボット間インタラクション
Inter-Robot Interactions in Multi-Robot Systems Using Braids
ブレイド群の要素でロボット間の相互作用パターンを抽象的に指定し、衝突を避けつつ多様な協調動作を実現する運動計画の枠組みを提案した論文。
著者: Yancy Diaz-Mercado, Magnus Egerstedt
分類: cs.MA, cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow for the enforcement of desired interaction patterns in a provably safe (i.e., collision-free) manner, e.g., for achieving rich movement patterns in a shared space, or to exchange sensor information. We propose to specify interaction patterns through elements of the so-called braid group. This allows us to not focus on a particular pattern per se, but rather on the problem of being able to execute a whole class of patterns. The result from such a construction is a hybrid system driven by symbolic inputs that must be mapped onto actual paths that both realize the desired interaction levels and remain safe in the sense that collisions are avoided.
