不確かさを考慮した分散型マルチロボット林冠下フロッキングアルゴリズム
Distributed Lloyd-Based algorithm for uncertainty-aware multi-robot under-canopy flocking
機載センサと計算のみを用い、明示的な通信や事前環境情報なしで複雑環境を群飛行する分散アルゴリズムを提案し、衝突回避と群れ維持を保証して森林での実機実験で検証した。
著者: Manuel Boldrer, Vit Kratky, Viktor Walter, Martin Saska
分類: cs.RO
原文アブストラクト
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing and computation capabilities. We provide sufficient conditions to guarantee collision avoidance with obstacles and other robots without exceeding a desired maximum distance from a predefined set of neighbors (flocking or proximity maintenance constraint) during the mission. The proposed approach allows to operate in crowded scenarios and to explicitly deal with tracking errors and on-board sensing errors. The algorithm was verified through simulations with varying number of UAVs and also through numerous real-world experiments in a dense forest involving up to four UAVs.
