移動ロボット群における衝突回避と接続性維持のための多目的合成
Multi-objective Compositions for Collision-Free Connectivity Maintenance in Teams of Mobile Robots
複数の目的をバリア関数としてAND/ORで合成し、衝突回避とグラフ接続性の同時保証を4台の移動ロボットで実験検証した論文。
著者: Li Wang, Aaron D. Ames, Magnus Egerstedt
分類: cs.RO, math.OC
原文アブストラクト
Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier functions, and then composed using AND and OR logical operators. The advantage of this approach is that compositional barrier functions can provably guarantee the simultaneous satisfaction of all composed objectives. The compositional barrier functions are applied to the example of ensuring collision avoidance and static/dynamical graph connectivity of teams of mobile robots. The resulting composite safety and connectivity barrier certificates are verified experimentally on a team of four mobile robots.
