接続性維持と衝突回避を両立するマルチロボットの自己位置推定と目標追跡
Multi-Robot Localization and Target Tracking with Connectivity Maintenance and Collision Avoidance
ロボットチームが接続性と衝突回避を保ちながら自己位置推定と目標追跡を同時に行うため、貪欲法と制御バリア関数を組み合わせた二段階手法を提案し、シミュレーションで有効性を検証した。
著者: Rahul Zahroof, Jiazhen Liu, Lifeng Zhou, Vijay Kumar
分類: cs.RO
原文アブストラクト
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization program, which is typically hard to solve. To this end, we design a two-staged approach that utilizes a greedy algorithm to optimize the joint localization and target tracking performance and applies control barrier functions to ensure safety constraints, i.e., maintaining connectivity of the robot team and preventing inter-robot collisions. Simulated Gazebo experiments verify the effectiveness of the proposed approach. We further compare our greedy algorithm to a non-linear optimization solver and a random algorithm, in terms of the joint localization and tracking quality as well as the computation time. The results demonstrate that our greedy algorithm achieves high task quality and runs efficiently.
