通信遅延を考慮した制御バリア関数による分散型接続維持
Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions
制御バリア関数に基づくマルチロボットの接続維持制御を実機実装し、通信遅延の影響を確認した上で、その影響を打ち消すヒューリスティックを提案・検証した論文。
著者: Beatrice Capelli, Hassan Fouad, Giovanni Beltrame, Lorenzo Sabattini
分類: cs.RO
原文アブストラクト
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must keep the multi-robot system connected independently from the system's mission and in the presence of undesired real world effects such as communication delays, model errors, and computational time delays, among others. In this paper we present the implementation, on a real robotic setup, of a connectivity maintenance control strategy based on Control Barrier Functions. During experimentation, we found that the presence of communication delays has a significant impact on the performance of the controlled system, with respect to the ideal case. We propose a heuristic to counteract the effects of communication delays, and we verify its efficacy both in simulation and with physical robot experiments.
