制御バリア関数による非協力的追い込み：理論と実験
Noncooperative Herding With Control Barrier Functions: Theory and Experiments
制御バリア関数を用いて、防御ロボットが羊エージェント群を保護区域から追い出す速度をQPでリアルタイムに計算する手法を提案し、理論的な実現可能性と実験的成功率を示した。
著者: Jaskaran Grover, Nishant Mohanty, Wenhao Luo, Changliu Liu, Katia Sycara
分類: cs.RO, math.OC
原文アブストラクト
In this paper, we consider the problem of protecting a high-value unit from inadvertent attack by a group of agents using defending robots. Specifically, we develop a control strategy for the defending agents that we call "dog robots" to prevent a flock of "sheep agents" from breaching a protected zone. We take recourse to control barrier functions to pose this problem and exploit the interaction dynamics between the sheep and dogs to find dogs' velocities that result in the sheep getting repelled from the zone. We solve a QP reactively that incorporates the defending constraints to compute the desired velocities for all dogs. Owing to this, our proposed framework is composable \textit{i.e.} it allows for simultaneous inclusion of multiple protected zones in the constraints on dog robots' velocities. We provide a theoretical proof of feasibility of our strategy for the one dog/one sheep case. Additionally, we provide empirical results of two dogs defending the protected zone from upto ten sheep averaged over a hundred simulations and report high success rates. We also demonstrate this algorithm experimentally on non-holonomic robots. Videos of these results are available at https://tinyurl.com/4dj2kjwx.
