MR-SPITE: 階層的掃引体積近似によるマルチロボット競合スキャンの高速化
MR-SPITE: Accelerating Multi-Robot Conflict Scans via Hierarchical Swept-Volume Approximations
各ロボットの経路を時間区間に分割し保守的な境界を割り当てることで、競合スキャンを高速化するフィルタMR-SPITEを提案。16台のFetchロボットで競合スキャンが7.18倍高速化し、計画時間が57%削減された。
著者: Marta Markowicz, James Motes, Marco Morales, Nancy Amato
分類: cs.RO, cs.CG, cs.MA
原文アブストラクト
Conflict scanning over synchronized robot paths requires detailed collision checking, potentially across every robot pair at every timestep, and may be repeated many times as conflicts are repaired. We present Multi-Robot SPITE (MR-SPITE), a conservative, motion-segment-based filter for accelerating these scans. MR-SPITE partitions each path into temporal intervals and assigns conservative bounds to each segment. An interval scheduler compares bounds for temporally overlapping motions: disjoint bounds certify the shared window as conflict-free, while unresolved windows are passed to the underlying collision checker. We integrate MR-SPITE into ARC and combine it with VAMP-based collision checking. For 16 Fetch robots, ARC with MR-SPITE achieves a paired median conflict scan speedup of 7.18x and reduces median planning time by 57% relative to the baseline ARC implementation with PRM+VAMP. These results demonstrate that motion-segment bounds complement configuration-level collision acceleration while preserving the behavior of the underlying discretized scanner.