時間不確実性下におけるマルチロボットツアーガイドのための人間-ロボットマッチングと経路計画
Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty
不確実性のある環境で複数のロボットが人間をツアーガイドするため、興味地点に基づくマッチングと経路計画を同時に解く手法を提案し、大規模近傍探索で効率的に解を求めた。
著者: Bo Fu, Tribhi Kathuria, Denise Rizzo, Matthew Castanier, X. Jessie Yang, Maani Ghaffari, Kira Barton
分類: cs.RO, cs.MA
原文アブストラクト
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides according to their requested places of interest (POIs) and generate the routes for the robots according to uncertain time estimation. A large neighborhood search algorithm is developed to efficiently find sub-optimal low-cost solutions for the SMRP. The scalability and optimality of the multi-robot planner are evaluated computationally. The largest case tested involves 50 robots, 250 humans, and 50 POIs. A photo-realistic multi-robot simulation was developed to verify the tour guiding performance in an uncertain indoor environment.
