ワイヤ走行ロボット群の被覆制御
Coverage Control for Wire-Traversing Robots
平面上を移動するロボット群をワイヤ上に連続的に投影するCOW写像を提案し、Lloydの降下法に基づく連続的な被覆制御アルゴリズムを構築、シミュレーションと実機で検証した。
著者: Gennaro Notomista, Magnus Egerstedt
分類: cs.RO
原文アブストラクト
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires. Starting from Lloyd's descent algorithm for coverage control, a solution that generates continuous motion of the robots on the wires is proposed. This is realized by means of a Continuous Onto Wires (COW) map: the robots' workspace is mapped onto the wires on which the motion of the robots is constrained to be. A final projection step is introduced to ensure that the configuration of the robots on the wires is a local minimizer of the constrained locational cost. An algorithm for the continuous constrained coverage control problem is proposed and it is tested both in simulation and on a team of mobile robots.
