縦方向制御ボリューム：分散マルチエージェント仕分けシステムのための新規集中推定・制御フレームワーク
Longitudinal Control Volumes: A Novel Centralized Estimation and Control Framework for Distributed Multi-Agent Sorting Systems
リサイクル施設の仕分け作業を対象に、材料の流れを「縦方向制御ボリューム」でモデル化し、カルマンフィルタとモデル予測制御を組み合わせて集中制御する枠組みを提案。シミュレーションと実機実験で分散制御より40～100%高性能を達成。
著者: James Maier, Prasanna Sriganesh, Matthew Travers
分類: cs.RO
原文アブストラクト
Centralized control of a multi-agent system improves upon distributed control especially when multiple agents share a common task e.g., sorting different materials in a recycling facility. Traditionally, each agent in a sorting facility is tuned individually which leads to suboptimal performance if one agent is less efficient than the others. Centralized control overcomes this bottleneck by leveraging global system state information, but it can be computationally expensive. In this work, we propose a novel framework called Longitudinal Control Volumes (LCV) to model the flow of material in a recycling facility. We then employ a Kalman Filter that incorporates local measurements of materials into a global estimation of the material flow in the system. We utilize a model predictive control algorithm that optimizes the rate of material flow using the global state estimate in real-time. We show that our proposed framework outperforms distributed control methods by 40-100% in simulation and physical experiments.
