部分的観測グラフ上での異種ロボットチーム協調と現実的通信
Heterogeneous Team Coordination on Partially Observable Graphs with Realistic Communication
危険な辺を持つグラフ上でのチーム協調問題を、異種ロボット・部分観測・現実的通信に拡張し、リアルタイム部分地図とA*的なサブゴール割当で協調行動を生成するアルゴリズムを提案した。
著者: Yanlin Zhou, Manshi Limbu, Xuan Wang, Daigo Shishika, Xuesu Xiao
分類: cs.RO
原文アブストラクト
Team Coordination on Graphs with Risky Edges (\textsc{tcgre}) is a recently proposed problem, in which robots find paths to their goals while considering possible coordination to reduce overall team cost. However, \textsc{tcgre} assumes that the \emph{entire} environment is available to a \emph{homogeneous} robot team with \emph{ubiquitous} communication. In this paper, we study an extended version of \textsc{tcgre}, called \textsc{hpr-tcgre}, with three relaxations: Heterogeneous robots, Partial observability, and Realistic communication. To this end, we form a new combinatorial optimization problem on top of \textsc{tcgre}. After analysis, we divide it into two sub-problems, one for robots moving individually, another for robots in groups, depending on their communication availability. Then, we develop an algorithm that exploits real-time partial maps to solve local shortest path(s) problems, with a A*-like sub-goal(s) assignment mechanism that explores potential coordination opportunities for global interests. Extensive experiments indicate that our algorithm is able to produce team coordination behaviors in order to reduce overall cost even with our three relaxations.
