空中ロボットによる地上侵入者からの境界防衛：理論と実践
Defending a Perimeter from a Ground Intruder Using an Aerial Defender: Theory and Practice
半球面上を移動する空中防衛ロボットが地上侵入者を捕獲する境界防衛ゲームの理論を、実際の駆動・センシングモデルを持つロボットに適用し、一次近似の仮定を緩和した際の性能差をGazeboシミュレーションで評価した。
著者: Elijah S. Lee, Daigo Shishika, Giuseppe Loianno, Vijay Kumar
分類: cs.RO
原文アブストラクト
The perimeter defense game has received interest in recent years as a variant of the pursuit-evasion game. A number of previous works have solved this game to obtain the optimal strategies for defender and intruder, but the derived theory considers the players as point particles with first-order assumptions. In this work, we aim to apply the theory derived from the perimeter defense problem to robots with realistic models of actuation and sensing and observe performance discrepancy in relaxing the first-order assumptions. In particular, we focus on the hemisphere perimeter defense problem where a ground intruder tries to reach the base of a hemisphere while an aerial defender constrained to move on the hemisphere aims to capture the intruder. The transition from theory to practice is detailed, and the designed system is simulated in Gazebo. Two metrics for parametric analysis and comparative study are proposed to evaluate the performance discrepancy.
