境界被覆タスクにおける目標性能を達成する確率的ロボット群の設計
Design of Stochastic Robotic Swarms for Target Performance Metrics in Boundary Coverage Tasks
局所通信とセンシングのみで1次元境界にランダムに付着するロボット群について、順序統計やランダム幾何グラフを用いて通信・センサネットワークの統計的性質を解析し、所望の性能を満たすロボット数や通信・センシング範囲を設計する手法を提案した。
著者: Ganesh P Kumar, Spring Berman
分類: cs.RO
原文アブストラクト
In this work, we analyze \textit{stochastic coverage schemes} (SCS) for robotic swarms in which the robots randomly attach to a one-dimensional boundary of interest using local communication and sensing, without relying on global position information or a map of the environment. Robotic swarms may be required to perform boundary coverage in a variety of applications, including environmental monitoring, collective transport, disaster response, and nanomedicine. We present a novel analytical approach to computing and designing the statistical properties of the communication and sensing networks that are formed by random robot configurations on a boundary. We are particularly interested in the event that a robot configuration forms a connected communication network or maintains continuous sensor coverage of the boundary. Using tools from order statistics, random geometric graphs, and computational geometry, we derive formulas for properties of the random graphs generated by robots that are independently and identically distributed along a boundary. We also develop order-of-magnitude estimates of these properties based on Poisson approximations and threshold functions. For cases where the SCS generates a uniform distribution of robots along the boundary, we apply our analytical results to develop a procedure for computing the robot population size, diameter, sensing range, or communication range that yields a random communication network or sensor network with desired properties.
