群ロボティクスにおけるバッテリーエネルギー効率の最大化
Maximizing Energy Battery Efficiency in Swarm Robotics
群れ全体のエネルギー消費を抑えつつ物体収集タスクの性能を高めるため、バッテリー上限・下限のしきい値を動的に調整するエネルギー管理手法を提案した。
著者: Anthony Chen, John Harwell, Maria Gini
分類: cs.MA, cs.RO
原文アブストラクト
Miniaturization and cost, two of the main attractive factors of swarm robotics, have motivated its use as a solution in object collecting tasks, search & rescue missions, and other applications. However, in the current literature only a few papers consider energy allocation efficiency within a swarm. Generally, robots recharge to their maximum level every time unconditionally, and do not incorporate estimates of the energy needed for their next task. In this paper we present an energy efficiency maximization method that minimizes the overall energy cost within a swarm while simultaneously maximizing swarm performance on an object gathering task. The method utilizes dynamic thresholds for upper and lower battery limits. This method has also shown to improve the efficiency of existing energy management methods.
