制約駆動によるマルチロボットシステムの協調制御
Constraint-Driven Coordinated Control of Multi-Robot Systems
マルチロボットのタスクをコスト関数付き制約最適化問題として再定式化し、分散制御と有限時間収束を保証する制御則を提案、環境モニタリングで実機検証した。
著者: Gennaro Notomista, Magnus Egerstedt
分類: cs.RO
原文アブストラクト
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The constraint-based formulation provides a natural way of enabling long-term robot autonomy applications, where resilience and adaptability to changing environmental conditions are essential. Moreover, under certain assumptions on the cost function, the resulting controller is guaranteed to be decentralized. Furthermore, finite-time convergence can be achieved, while using local information only, and therefore preserving the decentralized nature of the algorithm. The developed control framework has been tested on a team of ground mobile robots implementing long-term environmental monitoring.
