合意型ADMMを用いたトラスロボットの分散制御
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
各節点が局所情報のみで分散最適化を行い、合意型ADMMで全体の状態推定と協調動作を実現するトラスロボットの分散制御手法を提案し、実験で検証した。
著者: Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond, Allison M. Okamura, Mac Schwager
分類: cs.RO
原文アブストラクト
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for truss robots. The truss robot is viewed as a collective, where each individual node of the robot is capable of measuring the lengths of the neighboring edges, communicating with a subset of the other nodes, and computing and executing its own control actions with its connected edges. Through an iterative distributed optimization, the individual members utilize local information to converge on a global estimate of the robot's state, and then coordinate their planned motion to achieve desired global behavior. This distributed optimization is based on a consensus alternating direction method of multipliers framework. This distributed algorithm is then adapted to control an isoperimetric truss robot, and the distributed algorithm is used in an experimental demonstration. The demonstration allows a user to broadcast commands to a single node of the robot, which then ensures the coordinated motion of all other nodes to achieve the desired global motion.
