二段階協調戦略による3Dマルチロボット巡回
3D Multi-Robot Patrolling with a Two-Level Coordination Strategy
3D環境で複数UGVが巡回する際の干渉や空間的衝突を、トポロジカルな目標選択とメトリックな経路計画の二段階協調で最小化・解消する分散型巡回手法を提案し、シミュレーションと実機実験で有効性を示した。
著者: Luigi Freda, Mario Gianni, Fiora Pirri, Abel Gawel, Renaud Dube, Roland Siegwart, Cesar Cadena
分類: cs.RO, cs.AI, cs.MA
原文アブストラクト
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling process. This work presents a distributed multi-robot patrolling technique, which uses a two-level coordination strategy to minimize and explicitly manage the occurrence of conflicts and interference. The first level guides the agents to single out exclusive target nodes on a topological map. This target selection relies on a shared idleness representation and a coordination mechanism preventing topological conflicts. The second level hosts coordination strategies based on a metric representation of space and is supported by a 3D SLAM system. Here, each robot path planner negotiates spatial conflicts by applying a multi-robot traversability function. Continuous interactions between these two levels ensure coordination and conflicts resolution. Both simulations and real-world experiments are presented to validate the performances of the proposed patrolling strategy in 3D environments. Results show this is a promising solution for managing spatial conflicts and preventing deadlocks.
