Nav-SCOPE: 群ロボットの協調知覚と協調ナビゲーション
Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation
信頼性の低いアドホックネットワーク上で観測を共有し、相互作用場で不確実性を減らして経路最適化を行う、分散型の群ロボット協調ナビゲーション手法を提案した。
著者: Chenxi Li, Weining Lu, Qingquan Lin, Litong Meng, Haolu Li, Bin Liang
分類: cs.RO
原文アブストラクト
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc networks. Then, the environmental uncertainties of each robot are reduced by interaction fields that deliver complementary information. Finally, path optimization is achieved, enabling self-organized coordination with effective convergence, divergence, and collision avoidance. Our method is fully interpretable and ready for deployment without gaps. Comprehensive simulations and real-world experiments demonstrate reduced path redundancy, robust performance across various tasks, and minimal demands on computation and communication.
