マイクロUAV群による布地の分散協調搬送
Decentralized collaborative transport of fabrics using micro-UAVs
群れ専用スクリプト言語Buzzに基づく完全分散制御基盤を構築し、場ポテンシャル法とバネダンパ法の2手法を比較して、マイクロUAV群による布地の協調搬送を実機で実証した。
著者: Ryan Cotsakis, David St-Onge, Giovanni Beltrame
分類: cs.RO
原文アブストラクト
Small unmanned aerial vehicles (UAVs) have generally little capacity to carry payloads. Through collaboration, the UAVs can increase their joint payload capacity and carry more significant loads. For maximum flexibility to dynamic and unstructured environments and task demands, we propose a fully decentralized control infrastructure based on a swarm-specific scripting language, Buzz. In this paper, we describe the control infrastructure and use it to compare two algorithms for collaborative transport: field potentials and spring-damper. We test the performance of our approach with a fleet of micro-UAVs, demonstrating the potential of decentralized control for collaborative transport.
