統計力学に着想を得た直接通信不要の分散ローカリゼーション
Distributed Localization without Direct Communication Inspired by Statistical Mechanics
各ロボットが近隣と仮想粒子を交換することで、直接通信や固定ビーコンなしに相対位置を推定する分散ローカリゼーション手法を提案し、最大1万台のシミュレーションと52台の実機で有効性を示した。
著者: Jingxian Wang, Tianye Wang, Wei Wang, Xiwang Dong, Yandong Wang
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Distributed localization is essential in many robotic collective tasks such as shape formation and self-assembly.Inspired by the statistical mechanics of energy transition, this paper presents a fully distributed localization algorithm named as virtual particle exchange (VPE) localization algorithm, where each robot repetitively exchanges virtual particles (VPs) with neighbors and eventually obtains its relative position from the virtual particle (VP) amount it owns. Using custom-designed hardware and protocol, VPE localization algorithm allows robots to achieve localization using sensor readings only, avoiding direct communication with neighbors and keeping anonymity. Moreover, VPE localization algorithm determines the swarm center automatically, thereby eliminating the requirement of fixed beacons to embody the origin of coordinates. Theoretical analysis proves that the VPE localization algorithm can always converge to the same result regardless of initial state and has low asymptotic time and memory complexity. Extensive localization simulations with up to 10000 robots and experiments with 52 lowcost robots are carried out, which verify that VPE localization algorithm is scalable, accurate and robust to sensor noises. Based on the VPE localization algorithm, shape formations are further achieved in both simulations and experiments with 52 robots, illustrating that the algorithm can be directly applied to support swarm collaborative tasks.
