逐次ケージングによる群ロボットの協調搬送
Collective transport via sequential caging
任意形状の物体を群ロボットが分散的に取り囲み(ケージング)、形状の事前知識なしに目標位置まで協調搬送するアルゴリズムを提案し、物理シミュレータと実機で検証した。
著者: Vivek Shankar Vardharajan, Karthik Soma, Giovanni Beltrame
分類: cs.RO, cs.MA
原文アブストラクト
We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be transported starting from a seed robot that makes first contact with the object. Our approach does not require previous knowledge of the shape of the object to ensure caging. To push the object to a goal location, we estimate the robots required to apply force on the object based on the angular difference between the target and the object. During transport, the robots follow a sequence of intermediate goal locations specifying the required pose of the object at that location. We evaluate our approach in a physics-based simulator with up to 100 robots, using three generic paths. Experiments using a group of KheperaIV robots demonstrate the effectiveness of our approach in a real setting. Keywords: Collaborative transport, Task Allocation, Caging, Robot Swarms
