幾何学的手がかり抽出と円形分解によるマルチロボット・マルチルーム探索
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition
屋内の複数部屋を複数ロボットで探索するため、3D点群からドアや部屋の手がかりを抽出し、自由空間を円形に分解してタスクを割り当てる分散探索手法を提案した。
著者: Seungchan Kim, Micah Corah, John Keller, Graeme Best, Sebastian Scherer
分類: cs.RO
原文アブストラクト
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable robots to methodically explore and observe an unknown set of rooms in a structured building, keeping track of which rooms are already explored and sharing this information among robots to coordinate their behaviors in a distributed manner. To this end, we propose (1) a geometric cue extraction method that processes 3D point cloud data and detects the locations of potential cues such as doors and rooms, (2) a circular decomposition for free spaces used for target assignment. Using these two components, our pipeline effectively assigns tasks among robots, and enables a methodical exploration of rooms. We evaluate the performance of our pipeline using a team of up to 3 aerial robots, and show that our method outperforms the baseline by 33.4% in simulation and 26.4% in real-world experiments.
