異種能力を持つマルチロボットチームのためのブロック座標降下法を用いたカバレッジ制御
Coverage Control for a Multi-robot Team with Heterogeneous Capabilities using Block Coordinate Descent (BCD) Method
ロボットの能力（電力残量や移動速度など）に応じて担当領域の大きさを割り当てるカバレッジ制御を提案し、ブロック座標降下法で領域分割と配置を交互に最適化する。
著者: Yung Yu Andy Yiu, Ying Hing Yim, Yan Ning, Zikai Wang, Ling Shi
分類: cs.RO
原文アブストラクト
In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile speed, depending on the purpose. The proposed control system aims to allocate different portions of the environment to the robots according to their capabilities, i.e., the robot with higher capability takes a larger portion of the environment while the robot with lower capability takes a smaller one. We use the block coordinate descent (BCD) method to optimize the location of portions and the partitioning method alternately. A centralized machine is used to synchronize the robots and the gradient of each robot can be computed in a distributed manner. Simulation results are provided to illustrate the performance of the proposed control system.
