混雑ロボット群における自発的退避による干渉低減
Voluntary Retreat for Decentralized Interference Reduction in Robot Swarms
密集したロボット群で、各ロボットが周囲の混雑状況から滞在か退避かを自律判断し、空間干渉を減らして群全体の効率を高める分散アルゴリズムを開発し、実機実験で有効性を示した。
著者: Siddharth Mayya, Pietro Pierpaoli, Magnus Egerstedt
分類: cs.RO, cs.MA
原文アブストラクト
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the primary task. This paper develops a decentralized algorithm that enables individual robots to decide whether to stay in the region and contribute to the overall mission, or vacate the region so as to reduce the negative effects that interference has on the overall efficiency of the swarm. We develop this algorithm in the context of a distributed collection task, where a team of robots collect and deposit objects from one set of locations to another in a given region. Robots do not communicate and use only binary information regarding the presence of other robots around them to make the decision to stay or retreat. We illustrate the efficacy of the algorithm with experiments on a team of real robots.
