階層分散型異種マルチロボットタスク割り当てシステム
Hierarchically Decentralized Heterogeneous Multi-Robot Task Allocation System
月面などでの資源採掘(ISRU)を想定し、異なる能力を持つ複数ロボットへのタスク割り当てを、階層分散型のオークション方式で調整するシステムを開発し、ROS2上の2Dシミュレータで3つの行動方針を評価した。
著者: Sujeet Kashid, Ashwin D. Kumat
分類: cs.RO
原文アブストラクト
With plans to send humans to the Moon and further, the supply of resources like oxygen, water, fuel, etc., can be satiated by performing In-Situ Resource Utilization (ISRU), where resources from the extra-terrestrial body are extracted to be utilized. These ISRU missions can be carried out by a Multi-Robot System (MRS). In this research, a high-level auction- based Multi-Robot Task Allocation (MRTA) system is developed for coordinating tasks amongst multiple robots with distinct capabilities. A hierarchical decentralized coordination architecture is implemented in this research to allocate the tasks amongst the robots for achieving intentional cooperation in the Multi-Robot System (MRS). 3 different policies are formulated that govern how robots should act in the multiple auction situations of the auction-based task allocation system proposed in this research, and their performance is evaluated in a 2D simulation called pyrobosim using ROS2. The decentralized coordination architecture and the auction-based MRTA make the MRS highly scalable, reliable, flexible, and robust.