Path Negotiation for Self-interested Multirobot Vehicles in Shared Space
Path Negotiation for Self-interested Multirobot Vehicles in Shared Space
复制标题
共享空间中自利多机器人车辆的路径协商
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
S. Nakadai
中科院分区：
文献类型：
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作者：
H. Inotsume;Aayush Aggarwal;Ryota Higa;S. Nakadai
研究了共享空间中自利益多机器人算子之间的路径协商问题。在传统的多机器人路径规划问题中，迄今为止的研究大多集中在具有共同目标的多机器人无碰撞路径的协调和规划上。相反，自动驾驶车辆技术的最新进展，包括自动制导车辆、无人驾驶飞行器和有人驾驶自动驾驶汽车，增加了解决这些自主和自利的代理人的协调和避免冲突的需求，这些代理人追求自己的目标。在本研究中，我们从经营者的角度来解决这个问题。我们假设一个基于路径保留和协商避免机器人之间碰撞的问题设置。在这种情况下，我们提出了面向任务的效用函数和路径协商算法，以使机器人操作者在路径协商过程中实现任务效用最大化。仿真和实验结果表明，基于任务的协商方法比简单的基于路径的协商方法更有效。
This paper addresses the problem of path negotiation among self-interested multirobot operators in shared space. In conventional multirobot path planning problems, most of the research thus far has focused on the coordination and planning of collision-free paths for multiple robots with some common objectives. On the contrary, the recent progress of technologies in autonomous vehicles, including automated guidance vehicles, unmanned aerial vehicles, and manned autonomous cars, has increased demand for solving coordination and conflict avoidance in these autonomous and self-interested agents that pursue their own objectives. In this research, we tackle this problem from the operator perspective. We assume a problem setting where collisions between robots are avoided based on path reservation and negotiation. Under that circumstance, we propose a task-oriented utility function and a path negotiation algorithm for robot operators to maximize their task utility during path negotiation. The simulation and experiment results demonstrate the effectiveness of our task-based negotiation method over a simple path-based negotiation approach.