スマート粒子群の階層制御
Hierarchical Control of Smart Particle Swarms
多数の単純なワーカーロボットと少数のガイドロボットの2階層で群れを制御し、ガイドが局所的な引力パラメータを操作して任意のパターンを形成する手法を提案。最大5000台のシミュレーションと実機群で有効性を検証した。
著者: Vivek Shankar Varadharajan, Sepand Dyanatkar, Giovanni Beltrame
分類: cs.RO
原文アブストラクト
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides) with sufficient mission knowledge to create and displace a desired worker formation by operating on the local forces of the workers. The guides coordinate to shape the workers like smart particles by changing their interaction parameters. We study the approach with a large scale experiment in a physics based simulator with up to 5000 robots forming three different patterns. Our experiments reveal that the approach scales well with increasing robot numbers, and presents little pattern distortion. We evaluate the approach on a physical swarm of robots that use visual inertial odometry to compute their relative positions and obtain results that are comparable with simulation. This work lays the foundation for designing and coordinating configurable smart particles, with applications in smart materials and nanomedicine.
