通信維持を考慮したサブモジュラー最大化によるマルチロボット協調
Communication-Aware Multi-robot Coordination with Submodular Maximization
サブモジュラー目的関数の最大化と通信ネットワークの接続維持を同時に扱うCSM問題を定式化し、トポロジ生成と逸脱最小化の2段階ヒューリスティックを提案した。
著者: Guangyao Shi, Ishat E Rabban, Lifeng Zhou, Pratap Tokekar
分類: cs.RO
原文アブストラクト
Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay between submodular maximization and communication is rarely explored in the multi-robot setting. In many cases, maximizing the submodular objective may drive the robots in a way so as to disconnect the communication network. Driven by such observations, in this paper, we consider the problem of maximizing submodular function with connectivity constraints. Specifically, we propose a problem called Communication-aware Submodular Maximization (CSM), in which communication maintenance and submodular maximization are jointly considered in the decision-making process. One heuristic algorithm that consists of two stages, i.e. \textit{topology generation} and \textit{deviation minimization} is proposed. We validate the formulation and algorithm through numerical simulation. We find that our algorithm on average suffers only slightly performance decrease compared to the pure greedy strategy.
