異種ロボットチームのためのエネルギー考慮型衝突回避情報収集
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
センサ搭載ロボットチームが動的プロセスの不確かさを減らすため、情報利得とエネルギーコストのトレードオフを最適化しつつ衝突を避ける階層的手法を提案。分散プランナと制御バリア関数に基づく分散制御器を組み合わせ、性能保証と安全性を両立させる。
著者: Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is desirable, but leads to a non-monotone objective function in the set of robot trajectories. Therefore, common multi-robot planners based on coordinate descent lose their performance guarantees. Furthermore, methods that handle non-monotonicity lose their performance guarantees when subject to inter-robot collision avoidance constraints. As it is desirable to retain both the performance guarantee and safety guarantee, this work proposes a hierarchical approach with a distributed planner that uses local search with a worst-case performance guarantees and a decentralized controller based on control barrier functions that ensures safety and encourages timely arrival at sensing locations. Via extensive simulations, hardware-in-the-loop tests and hardware experiments, we demonstrate that the proposed approach achieves a better trade-off between sensing and energy cost than coordinate-descent-based algorithms.
