雑然環境における四足ロボットチームの役割適応型協調フォーメーション計画
Role-Adaptive Collaborative Formation Planning for Team of Quadruped Robots in Cluttered Environments
リーダー・フォロワー型のフォーメーション制御に動的な役割交代と部分目標計画を組み合わせ、仮想バネダンパと障害物回避層で四足ロボット群が複雑環境を柔軟に隊列を崩しながら衝突回避しつつ移動できる枠組みを提案した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Magnus Norén, Marios-Nektarios Stamatopoulos, Avijit Banerjee, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles, the proposed approach integrates dynamic role assignment and partial goal planning, enabling flexible, collision-free navigation in complex scenarios. Formation stability and inter-robot safety are ensured through a virtual spring-damper system coupled with a novel obstacle avoidance layer that adaptively adjusts each agent's velocity. A dynamic look-ahead reference generator further enhances flexibility, allowing temporary formation deformation to maneuver around obstacles while maintaining goal-directed motion. The Fast Marching Square (FM2) algorithm provides the global path for the leader and local paths for the followers as the planning backbone. The framework is validated through extensive simulations and real-world experiments with teams of quadruped robots. Results demonstrate smooth coordination, adaptive role switching, and robust formation maintenance in complex, unstructured environments. A video featuring the simulation and physical experiments along with their associated visualizations can be found at https://youtu.be/scq37Tua9W4.
