ロボット群による隊列走行が混雑環境のナビゲーションに与える利点
On the Benefits of Robot Platooning for Navigating Crowded Environments
ロボット群が群衆の中を移動する際、隊列走行と貪欲戦略の性能と周囲への影響を最大200体のシミュレーションで比較し、状況に応じて両者を切り替える適応戦略を提案した。
著者: Jahir Argote-Gerald, Genki Miyauchi, Paul Trodden, Roderich Gross
分類: cs.RO, cs.MA
原文アブストラクト
This paper studies how groups of robots can effectively navigate through a crowd of agents. It quantifies the performance of platooning and less constrained, greedy strategies, and the extent to which these strategies disrupt the crowd agents. Three scenarios are considered: (i) passive crowds, (ii) counter-flow crowds, and (iii) perpendicular-flow crowds. Through simulations consisting of up to 200 robots, we show that for navigating passive and counter-flow crowds, the platooning strategy is less disruptive and more effective in dense crowds than the greedy strategy, whereas for navigating perpendicular-flow crowds, the greedy strategy outperforms the platooning strategy in either aspect. Moreover, we propose an adaptive strategy that can switch between platooning and greedy behavioral states, and demonstrate that it combines the strengths of both strategies in all the scenarios considered.
