捜索救助ミッションにおける安全重視UAV群の市場ベース再計画
Market-Based Replanning for Safety-Critical UAV Swarms in Search and Rescue Missions
故障したエージェントのタスクをオークション機構で自律的に再割り当てし、人員減少下でも高い成功率を維持するUAV群の分散協調アーキテクチャを提案した論文。
著者: Luiz Giacomossi, Andrea Haglund, Claire Namatovu, Emily Zainali, Esaias Målqvist, Yonatan M. Beyene, Ivan Tomasic, Baran Çürüklü, Håkan Forsberg
分類: cs.RO, cs.MA, eess.SY
原文アブストラクト
Reliable autonomous UAV swarms in Search and Rescue (SAR) missions require fault-tolerant coordination capable of sustaining operations despite agent degradation. This paper introduces the Intelligent Replanning Drone Swarm (IRDS), a distributed coordination architecture designed for resource-constrained environments. The proposed framework employs a Reverse-Auction market mechanism where agents bid to service search sectors based on a distance-weighted cost function, coupled with a geometric consensus protocol for target verification. We evaluate the approach through physics-based simulations (N=8 agents, 8x8 grid) subjected to stochastic fault injection. Results indicate that the swarm autonomously reallocates tasks from failed agents with low latency relative to the total mission duration, maintaining a mission success rate of 93% under 25% workforce degradation. The proposed framework demonstrates a robust, empirically tested method for self-healing aerial robotic coordination.