Online Plan Repair in Multi-robot Coordination with Disturbances
Online Plan Repair in Multi-robot Coordination with Disturbances
复制标题
多机器人干扰协调中的在线计划修复
DOI：
10.1109/icra.2019.8793522
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
J. O’Kane
中科院分区：
文献类型：
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作者：
A. Coskun;J. O’Kane
研究了机器人在移动过程中可能出现意外延误的情况下的多机器人协调问题。Čá1AP、Gregoire和Frazzoli之前的工作引入了一种名为RMTRACK的控制律，它使机器人在这种情况下能够执行预先规划的路径，尽管每个机器人的执行速度受到干扰，同时保证每个机器人能够在不发生碰撞和死锁的情况下到达其目标。我们将该方法扩展到处理扰动概率在开始时未知且在整个环境中不均匀的情况。其关键思想是通过交换两个机器人通过相互碰撞区域(即协调空间障碍物)的顺序，在进行这样的改变时可以估计这样的改变以提高系统的整体性能，从而在运行中‘修复’计划。我们介绍了一种基于高斯过程的技术来估计未来的干扰，并提出了两种算法，用于在适当的时间测试给定障碍的交换是否有益。仿真测试表明，与RMTRACK算法相比，该算法在较小的计算代价下获得了更小的平均行程时间。
This paper addresses the problem of multi-robot coordination in scenarios where the robots may experience unexpected delays in their movements. Prior work by Čá1ap, Gregoire, and Frazzoli introduced a control law, called RMTRACK, which enables robots in such scenarios to execute preplanned paths in spite of disturbances in the execution speed of each robot, while guaranteeing that each robot can reach its goal without collisions and without deadlocks. We extend that approach to handle scenarios in which the disturbance probabilities are unknown at the start and non-uniform across the environment. The key idea is to ‘repair’ a plan on-the-fly, by swapping the order in which a pair of robots passes through a mutual collision region (i.e. a coordination space obstacle), when making such a change can be estimated to improve the overall performance of the system. We introduce a technique based on Gaussian Processes to estimate future disturbances, and propose two algorithms for testing, at appropriate times, whether a swap of a given obstacle would be beneficial. Tests in simulation demonstrate that our algorithm achieves significantly smaller average travel time than RMTRACK at only a modest computational expense.