フィードラー値を制約した最適なマルチロボット通信考慮型軌道計画
Optimal Multi-Robot Communication-Aware Trajectory Planning by Constraining the Fiedler Value
フィードラー値を通信性能指標として線形制約に組み込み、マルチロボットの通信接続性を保ちながら衝突回避と目的達成を両立する軌道計画手法を提案し、シミュレーションと実験で有効性を示した。
著者: Jeppe Heini Mikkelsen, Roberto Galeazzi, Matteo Fumagalli
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear constraints on the trajectories of the robots are introduced to ensure communication performance and collision avoidance. The Fiedler value is adopted as communication performance metric. The validity of the method in computing both feasible and optimal trajectories for the robots is demonstrated both in simulation and experimentally. Results show that the constraint on the Fiedler value ensures that the robot network fulfils its objective while maintaining communication connectivity at all times. Further, the paper shows that the introduction of approximations for the constraints enables a significant improvement in the computational time of the solution, which remain very close to the optimal solution.
