meSch: 長期的タスク遂行のためのマルチエージェントエネルギー考慮型スケジューリング
meSch: Multi-Agent Energy-Aware Scheduling for Task Persistence
バッテリー容量が限られた自律ロボット群が長期的なタスクを途切れなく遂行できるよう、単一の充電ステーションへ順番に戻るスケジュールを組むプロトコルを提案し、移動充電ステーションや不確実性にも対応できることをシミュレーションと実機実験で示した。
著者: Kaleb Ben Naveed, An Dang, Rahul Kumar, Dimitra Panagou
分類: cs.RO
原文アブストラクト
This paper develops a scheduling protocol for a team of autonomous robots that operate on long-term persistent tasks. The proposed framework, called meSch, accounts for the limited battery capacity of the robots and ensures that the robots return to charge their batteries one at a time at the single charging station. The protocol is applicable to general nonlinear robot models under certain assumptions, does not require robots to be deployed at different times, and can handle robots with different discharge rates. We further consider the case when the charging station is mobile and its state information is subject to uncertainty. The feasibility of the algorithm in terms of ensuring persistent charging is given under certain assumptions, while the efficacy of meSch is validated through simulation and hardware experiments.
