階層的に一貫した動作プリミティブによるクアッドロータの協調制御
Hierarchically Consistent Motion Primitives for Quadrotor Coordination
グリッド空間上の低レベル動作プリミティブから高レベル動作プリミティブを構築する階層的枠組みを提案し、障害物環境で編隊を維持しながら飛行する複数クアッドロータで実証した。
著者: Marijan Vukosavljev, Angela P. Schoellig, Mireille E. Broucke
分類: cs.RO, cs.MA
原文アブストラクト
We present a hierarchical framework for motion planning of a large collection of agents. The proposed framework starts from low level motion primitives over a gridded workspace and provides a set of rules for constructing higher level motion primitives. Our hierarchical approach is highly scalable and robust making it an ideal tool for planning for multi-agent systems. Results are demonstrated experimentally on a collection of quadrotors that must navigate a cluttered environment while maintaining a formation.
