マルチロボット行動の逐次合成フレームワーク
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors
通信制約を満たす配置に有限時間で収束させながら、複数の協調行動を順に組み合わせて実行できる分散制御フレームワークを提案し、8台のロボットによる都市環境での探索・救助シナリオで実証した。
著者: Pietro Pierpaoli, Anqi Li, Mohit Srinivasan, Xiaoyi Cai, Samuel Coogan, Magnus Egerstedt
分類: cs.RO, cs.MA
原文アブストラクト
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors while respecting local information flow constraints. Specifically, when the inter-agent communication depends on inter-robot distances, these constraints translate into particular configurations that must be reached in finite time in order for the system to be able to transition between the behaviors. To this end, we develop a distributed framework based on finite-time convergence control barrier functions that enables a team of robots to adjust its configuration in order to meet the communication requirements for the different tasks. In order to demonstrate the significance of the proposed framework, we implemented a full-scale scenario where a team of eight planar robots explore an urban environment in order to localize and rescue a subject.
