Interaction Templates for Multi-Robot Systems
Interaction Templates for Multi-Robot Systems
复制标题
多机器人系统的交互模板
DOI：
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复制
发表时间：
2019
影响因子：
5.2
通讯作者：
N. Amato
中科院分区：
文献类型：
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作者：
James Motes;R. Sandström;W. Adams;Tobi Ogunyale;Shawna L. Thomas;N. Amato
这封信描述了一个框架，多机器人问题，需要或利用机器人之间的相互作用。解决方案在运动规划级别上考虑交互，以确定多机器人团队解决方案的可行性和成本。使用当前的集成任务和运动规划（TMP）方法对这些问题进行建模通常需要对可能的交互进行推理，并在搜索解决方案时检查许多可能的机器人组合。我们提出了一种多机器人规划方法称为交互模板（IT），它将某些类型的机器人交互从任务规划器的运动规划器。IT用一个小的路线图对一组机器人之间的交互进行建模。然后将该路线图平铺到环境中，并连接到机器人的个人路线图。由此产生的组合路线图允许运动规划器考虑相互作用。我们将IT应用于同质和异构机器人团队下所需的和可选的合作方案，以前需要一个任务规划方法。我们表现出改进的性能，目前的TMP规划方法。
This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and motion planning (TMP) approaches typically requires reasoning about the possible interactions and checking many of the possible robot combinations when searching for a solution. We present a multi-robot planning method called Interaction Templates (ITs), which moves certain types of robot interactions from the task planner to the motion planner. ITs model interactions between a set of robots with a small roadmap. This roadmap is then tiled into the environment and connected to the robots’ individual roadmaps. The resulting combined roadmap allows interactions to be considered by the motion planner. We apply ITs to homogeneous and heterogeneous robot teams under both required and optional cooperation scenarios, which previously required a task planning method. We show improved performance over a current TMP planning approach.