EDGE上のスケーラブルなCBFアーキテクチャによる安全な空地マルチエージェント協調
Barriers on the EDGE: A scalable CBF architecture over EDGE for safe aerial-ground multi-agent coordination
エッジコンピューティングを活用し、時変制御バリア関数（CBF）で衝突回避・UAVの移動UGVへの着陸・タスク空間制限を保証する、空地マルチエージェント協調のためのスケーラブルな制御アーキテクチャを提案した。
著者: Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa, Akshit Saradagi, Sumeet Satpute, George Nikolakopoulos
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space. We consider the case where the aerial and ground operations are coupled, enabled by the capability of the aerial robots to land on moving ground robots. The proposed method uses time-varying Control Barrier Functions (CBFs) to impose safety constraints associated with (i) collision avoidance between agents, (ii) landing of UAVs on mobile UGVs, and (iii) task space restriction. Further, this article addresses the challenge induced by the rapid increase in the number of CBF constraints with the increasing number of agents through a hybrid centralized-distributed coordination approach that determines the set of CBF constraints that is relevant for every aerial and ground agent at any given time. A centralized node (Watcher), hosted by an edge computing cluster, activates the relevant constraints, thus reducing the network complexity and the need for high onboard processing on the robots. The CBF constraints are enforced in a distributed manner by individual robots that run a nominal controller and safety filter locally to overcome latency and other network nonidealities.
