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Autonomous Robots
Erschienen in: Autonomous Robots 3-4/2020

21.06.2019

CARE: Cooperative Autonomy for Resilience and Efficiency of robot teams for complete coverage of unknown environments under robot failures

verfasst von: Junnan Song, Shalabh Gupta

Erschienen in: Autonomous Robots | Ausgabe 3-4/2020

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Abstract

This paper addresses the problem of Multi-robot Coverage Path Planning for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases jeopardize the overall operation. Therefore, this paper presents a distributed algorithm, called Cooperative Autonomy for Resilience and Efficiency, which not only provides resilience to the robot team against failures of individual robots, but also improves the overall efficiency of operation via event-driven replanning. The algorithm uses distributed Discrete Event Supervisors, which trigger games between a set of feasible players in the event of a robot failure or idling, to make collaborative decisions for task reallocations. The game-theoretic structure is built using Potential Games, where the utility of each player is aligned with a shared objective function for all players. The algorithm has been validated in various complex scenarios on a high-fidelity robotic simulator, and the results demonstrate that the team achieves complete coverage under failures, reduced coverage time, and faster target discovery as compared to three alternative methods.
Vorheriger Artikel Distributed coverage in mobile sensor networks without location information
Nächster Artikel Distributed multi-target search and tracking using the PHD filter

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Metadaten
Titel
CARE: Cooperative Autonomy for Resilience and Efficiency of robot teams for complete coverage of unknown environments under robot failures
verfasst von
Junnan Song
Shalabh Gupta
Publikationsdatum
21.06.2019
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 3-4/2020
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-019-09870-3

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