異種マルチエージェントシステムの能力を活用した環境コンフリクト解消
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution
実行時に発生する障害物などの環境コンフリクトを、異種エージェント同士が能力を補完し合って解消する時相論理ベースの制御フレームワークを提案し、二足歩行ロボットとドローンの実機で検証した。
著者: Michael Enqi Cao, Jonas Warnke, Yunhai Han, Xinpei Ni, Ye Zhao, Samuel Coogan
分類: cs.RO, cs.MA, cs.SY, eess.SY
原文アブストラクト
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built upon temporal-logic-based reactive synthesis to guarantee safety and task completion under specific environment assumptions. In heterogeneous multi-agent systems, every agent is expected to complete its own tasks in service of a global team objective. However, at runtime, an agent may encounter un-modeled obstacles (e.g., doors or walls) that prevent it from achieving its own task. To address this problem, we employ the capabilities of other heterogeneous agents to resolve the obstacle. A controller framework is proposed to redirect agents with the capability of resolving the appropriate obstacles to the required target when such a situation is detected. Three case studies involving a bipedal robot Digit and a quadcopter are used to evaluate the controller performance in action. Additionally, we implement the proposed framework on a physical multi-agent robotic system to demonstrate its viability for real world applications.
