複数ロボットによる複数目標追跡のための分散同時行動・目標割当
Distributed Simultaneous Action and Target Assignment for Multi-Robot Multi-Target Tracking
複数ロボットで複数目標を追跡する際の割当問題を混合パッキング・カバリング問題として定式化し、センシング・通信範囲の制約下で局所アルゴリズムにより分散的に解く手法を提案した。
著者: Yoonchang Sung, Ashish Kumar Budhiraja, Ryan K. Williams, Pratap Tokekar
分類: cs.RO
原文アブストラクト
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is taken into consideration. A local algorithm gives theoretical bounds on both the running time and approximation ratio to an optimal solution. We employ a local algorithm of max-min linear programs to solve the proposed task. Simulation result shows that a local algorithm is an effective solution to the multi-robot task allocation.
