信頼度に基づく記号動作計画による複数ロボットのバウンディング・オーバーウォッチ
Trust-based Symbolic Motion Planning for Multi-robot Bounding Overwatch
地形の走行性と見通しから信頼度モデルを構築し、時相論理タスクを満たす分散型記号動作計画で複数ロボットのバウンディング・オーバーウォッチを安全に実現するフレームワークを提案した。
著者: Huanfei Zheng, Jonathon M. Smereka, Dariusz Mikulski, Stephanie Roth, Yue Wang
分類: cs.RO
原文アブストラクト
Multi-robot bounding overwatch requires timely coordination of robot team members. Symbolic motion planning (SMP) can provide provably correct solutions for robot motion planning with high-level temporal logic task requirements. This paper aims to develop a framework for safe and reliable SMP of multi-robot systems (MRS) to satisfy complex bounding overwatch tasks constrained by temporal logics. A decentralized SMP framework is first presented, which guarantees both correctness and parallel execution of the complex bounding overwatch tasks by the MRS. A computational trust model is then constructed by referring to the traversability and line of sight of robots in the terrain. The trust model predicts the trustworthiness of each robot team's potential behavior in executing a task plan. The most trustworthy task and motion plan is explored with a Dijkstra searching strategy to guarantee the reliability of MRS bounding overwatch. A robot simulation is implemented in ROS Gazebo to demonstrate the effectiveness of the proposed framework.
