基準形状の変換に関する合意に基づく剛体ロボットフォーメーションの分散計画
Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration
複数ロボットの剛体フォーメーションを維持しながら障害物環境を航行するため、基準形状の変換パラメータを分散合意で求める計算効率の良い計画手法を提案し、シミュレーションで検証した。
著者: Jeppe Heini Mikkelsen, Matteo Fumagalli
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find feasible formation parameters that guarantees formation constraints for rigid formations. The method proves to be computationally efficient, making it relevant for reactive planning and control of multi-robot systems formation. The method has been tested in a simulation environment to prove feasibility and run-time efficiency.
