未知環境における半分散制御によるマルチロボットシステムでの壊れやすい物体の輸送
Fragile object transportation by a multi-robot system in an unknown environment using a semi-decentralized control approach
未知で遮蔽物のある環境で、ロボット群が壊れやすい物体を目的地まで運ぶための半分散制御手法を提案し、シミュレーションで有効性を示した。
著者: Dibyendu Roy, Sreejeet Maity, Madhubanti Maitra, Samar Bhattacharya
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial part (Phase 1) includes a centralized control strategy for creating a specific formation among the agents so that the object to be transported, can be positioned properly on the top of the system. We present a novel triangle packing scheme fused with a circular region-based shape control method for creating a rigid configuration among the robots. In the later part (Phase 2), the swarm system is required to convey the object to the destination in a decentralized way employing the region based shape control approach. The simulation result as well as the comparison study demonstrates the effectiveness of our proposed scheme.