ロボットチームによる環境モニタリングのための確率非線形アンサンブルモデリングと制御
Stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring
ロボットチームが広域を長時間モニタリングする際に、ロボット間の相互作用を利用した非線形マクロモデルでロボット分布を制御する手法を提案し、実験で有効性を示した。
著者: Victoria Edwards, Thales C. Silva, M. Ani Hsieh
分類: cs.RO
原文アブストラクト
We seek methods to model, control, and analyze robot teams performing environmental monitoring tasks. During environmental monitoring, the goal is to have teams of robots collect various data throughout a fixed region for extended periods of time. Standard bottom-up task assignment methods do not scale as the number of robots and task locations increases and require computationally expensive replanning. Alternatively, top-down methods have been used to combat computational complexity, but most have been limited to the analysis of methods which focus on transition times between tasks. In this work, we study a class of nonlinear macroscopic models which we use to control a time-varying distribution of robots performing different tasks throughout an environment. Our proposed ensemble model and control maintains desired time-varying populations of robots by leveraging naturally occurring interactions between robots performing tasks. We validate our approach at multiple fidelity levels including experimental results, suggesting the effectiveness of our approach to perform environmental monitoring.
