论文标题
通过小组计划增强的分散自动空中机器人团队
Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning
论文作者
论文摘要
设计自动空中机器人团队系统仍然是机器人技术的巨大挑战。该领域的现有作品可以归类为集中和分散的。集中的方法遭受了规模困境，而分散的方法通常会导致计划质量差。在本文中，我们提出了一个通过小组计划增强的分散自动空中机器人团队系统。根据代理的空间分布，该系统将团队分为几个组和孤立的代理。对于每个组内的冲突，我们提出了一种名为“小组计划”的新型协调机制。小组计划包括有效的多代理探路（MAPF）和轨迹关节优化，这可以显着提高计划质量和成功率。我们通过模拟和现实世界实验证明，我们的方法不仅适用于大型团队，而且还具有顶级计划质量
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones often lead to poor planning quality. In this paper, we propose an enhanced decentralized autonomous aerial robot team system with group planning. According to the spatial distribution of agents, the system dynamically divides the team into several groups and isolated agents. For conflicts within each group, we propose a novel coordination mechanism named group planning. The group planning consists of efficient multi-agent pathfinding (MAPF) and trajectory joint optimization, which can significantly improve planning quality and success rate. We demonstrate through simulations and real-world experiments that our method not only has applicability for a large-scale team but also has top-level planning quality
