風と限られた資源下でのマルチロボットのエネルギー自律性
Multi-robot energy autonomy with wind and constrained resources
風や空気抵抗の影響下で単一の充電ステーションを共有する複数ロボットのエネルギー充足と排他的利用を、制御バリア関数に基づく枠組みで保証し、実現可能性条件を解析した研究。
著者: Hassan Fouad, Giovanni Beltrame
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access. In this work we extend previous results by considering robots that carry out a generic mission while sharing a single charging station, while being affected by air drag and wind fields. Our mission-agnostic framework based on control barrier functions (CBFs) ensures energy sufficiency (i.e., maintaining all robots above a certain voltage threshold) and proper coordination (i.e., ensuring mutually exclusive use of the available charging station). Moreover, we investigate the feasibility requirements of the system in relation to individual robots' properties, as well as air drag and wind effects. We show simulation results that demonstrate the effectiveness of the proposed framework.
