ケンブリッジ・ロボマスター：敏捷なマルチロボット研究プラットフォーム
The Cambridge RoboMaster: An Agile Multi-Robot Research Platform
小型で計算・駆動能力に優れた全方向移動ロボット群と、ROS2ベースの制御・シミュレーションスタックを統合し、実世界でのマルチエージェント研究を可能にするプラットフォームを提案。
著者: Jan Blumenkamp, Ajay Shankar, Matteo Bettini, Joshua Bird, Amanda Prorok
分類: cs.RO, cs.MA, cs.SY, eess.SY
原文アブストラクト
Compact robotic platforms with powerful compute and actuation capabilities are key enablers for practical, real-world deployments of multi-agent research. This article introduces a tightly integrated hardware, control, and simulation software stack on a fleet of holonomic ground robot platforms designed with this motivation. Our robots, a fleet of customised DJI Robomaster S1 vehicles, offer a balance between small robots that do not possess sufficient compute or actuation capabilities and larger robots that are unsuitable for indoor multi-robot tests. They run a modular ROS2-based optimal estimation and control stack for full onboard autonomy, contain ad-hoc peer-to-peer communication infrastructure, and can zero-shot run multi-agent reinforcement learning (MARL) policies trained in our vectorized multi-agent simulation framework. We present an in-depth review of other platforms currently available, showcase new experimental validation of our system's capabilities, and introduce case studies that highlight the versatility and reliability of our system as a testbed for a wide range of research demonstrations. Our system as well as supplementary material is available online. https://proroklab.github.io/cambridge-robomaster
