大規模編隊飛行のための分散パイプライン：衝突回避とタスク割当によるデコンフリクト
A Distributed Pipeline for Scalable, Deconflicted Formation Flying
オンボード測位と分散型の衝突回避・タスク割当を統合し、大規模な機体編隊をデッドロックなく収束させるパイプラインを提案し、シミュレーションと実機で有効性を示した。
著者: Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania, Aleix Paris, Kaveh Fathian, Jonathan P. How
分類: cs.RO, cs.MA
原文アブストラクト
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the dependency on external infrastructure, the associated coordination strategies typically lack collision avoidance and scalability. To address these shortcomings, we present a unified pipeline with onboard localization and a distributed, collision-free motion planning strategy that scales to a large number of vehicles. Since distributed collision avoidance strategies are known to result in gridlock, we also present a decentralized task assignment solution to deconflict vehicles. We experimentally validate our pipeline in simulation and hardware. The results show that our approach for solving the optimization problem associated with motion planning gives solutions within seconds in cases where general purpose solvers fail due to high complexity. In addition, our lightweight assignment strategy leads to successful and quicker formation convergence in 96-100% of all trials, whereas indefinite gridlocks occur without it for 33-50% of trials. By enabling large-scale, deconflicted coordination, this pipeline should help pave the way for anytime, anywhere deployment of aerial swarms.
