リスク考慮型群ロボットストレージ
RASS: Risk-Aware Swarm Storage
群ロボットが探索中に得た地形や危険情報を、近隣間の局所通信のみで安全かつ迅速に分散保存・経路制御する仕組みRASSを提案し、シミュレーションと実機実験で信頼性と容量を検証した。
著者: Samuel Arseneault, David Vielfaure, Giovanni Beltrame
分類: cs.RO
原文アブストラクト
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making process of the robots. Therefore, it is crucial to store these data safely and to make it available quickly to the operators of the robotic system. In a decentralized system like a swarm of robots, this entails several challenges. To address them, we propose RASS, a decentralized risk-aware swarm storage and routing mechanism, which relies exclusively on local information sharing between neighbours to establish storage and routing fitness. We test our system through thorough experiments in a physics-based simulator and test its real-world applicability with physical experiments. We obtain convincing reliability, routing speeds, and swarm storage capacity results.
