多ロボットシステムにおける断続的通信障害に対応する安全な開ループ戦略
Safe Open-Loop Strategies for Handling Intermittent Communications in Multi-Robot Systems
中央制御型の多ロボットシステムで通信障害が起きても衝突しないよう、各ロボットに安全な時間ホライズンを付与して最後の速度指令を実行させる開ループ運動戦略を提案し、シミュレーションと実機で検証した。
著者: Siddharth Mayya, Magnus Egerstedt
分類: cs.MA, cs.RO
原文アブストラクト
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots to safely handle critical communication failures for such multi-robot architectures. For each robot, the proposed algorithm computes a time horizon over which collisions with other robots are guaranteed not to occur. These safe time horizons are included in the commands being transmitted to the individual robots. In the event of a communication failure, the robots execute the last received velocity commands for the corresponding safe time horizons leading to a provably safe open-loop motion strategy. The resulting algorithm is computationally effective and is agnostic to the task that the robots are performing. The efficacy of the strategy is verified in simulation as well as on a team of differential-drive mobile robots.
