位相的制約下におけるマルチロボットシステムの分散運動計画
Distributed Motion Planning for Multi-Robot Systems under Topological Constraints
ブレイドで表される位相的制約を巻き数に変換し、MPCとコンセンサスに基づく分散制御で複数ロボットの協調運動を効率的に計画する手法を提案。
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著者: Gianpietro Battocletti, Dimitris Boskos, Dimos V. Dimarogonas, Bart De Schutter
分類: cs.RO
原文アブストラクト
Efficient and distributed coordination of mobile robots is one of the main challenges in multi-robot systems. Topological constraints, often expressed as topological braids, are a popular tool to encode complex coordination patterns between multiple mobile robots, as they offer a compact and abstract representation of the desired qualitative relation between the space-time trajectories of the robots. However, execution of joint motion plans encoded as braid-based topological constraints via distributed controllers is challenging, with existing approaches, generally based on the execution of one braid generator at a time, producing slow and suboptimal trajectories. We propose a distributed controller based on Model Predictive Control (MPC) to efficiently execute braid-based topological specifications. Rather than directly tracking the braid specification, we propose to use winding numbers, which are topological invariants for braids, as a proxy. This has the twofold benefit of converting braids into a continuous function, which can be easily tracked by an MPC controller through an appropriate term in the cost function, and of decoupling the global braid specification into a set of pairwise specifications, which can be tracked distributedly through the solution of only local MPC problems. To maintain global coordination, we propose a consensus-based progress estimation approach, which allows the robots to synchronize their motion toward the desired specification. We validate the proposed approach in simulation and in real-world experiments, where we demonstrate the effectiveness of the proposed approach and the improvement over existing approaches in terms of execution speed and control effort.