マルチロボットチームの集合的パフォーマンス予測に向けて
Towards Predicting Collective Performance in Multi-Robot Teams
無次元変数解析を用いてマルチロボットシステムの性能を支配するパラメータを少数の無次元変数に集約し、チーム性能の予測モデルを構築した研究。
著者: Pujie Xin, Zhanteng Xie, Philip Dames
分類: cs.RO
原文アブストラクト
The increased deployment of multi-robot systems (MRS) in various fields has led to the need for analysis of system-level performance. However, creating consistent metrics for MRS is challenging due to the wide range of system and environmental factors, such as team size and environment size. This paper presents a new analytical framework for MRS based on dimensionless variable analysis, a mathematical technique typically used to simplify complex physical systems. This approach effectively condenses the complex parameters influencing MRS performance into a manageable set of dimensionless variables. We form dimensionless variables which encapsulate key parameters of the robot team and task. Then we use these dimensionless variables to fit a parametric model of team performance. Our model successfully identifies critical performance determinants and their interdependencies, providing insight for MRS design and optimization. The application of dimensionless variable analysis to MRS offers a promising method for MRS analysis that effectively reduces complexity, enhances comprehension of system behaviors, and informs the design and management of future MRS deployments.
