グループ計画で強化された分散型自律飛行ロボットチーム
Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning
空間分布に応じてチームを動的にグループ分けし、グループ内でMAPFと軌道の共同最適化を行うことで、大規模チームでも高品質な計画を実現する分散型飛行ロボットシステムを提案した。
著者: Jialiang Hou, Xin Zhou, Zhongxue Gan, Fei Gao
分類: cs.RO
原文アブストラクト
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones often lead to poor planning quality. In this paper, we propose an enhanced decentralized autonomous aerial robot team system with group planning. According to the spatial distribution of agents, the system dynamically divides the team into several groups and isolated agents. For conflicts within each group, we propose a novel coordination mechanism named group planning. The group planning consists of efficient multi-agent pathfinding (MAPF) and trajectory joint optimization, which can significantly improve planning quality and success rate. We demonstrate through simulations and real-world experiments that our method not only has applicability for a large-scale team but also has top-level planning quality
