论文标题
从饮酒哲学家到异步的路径跟踪机器人
From Drinking Philosophers to Asynchronous Path-Following Robots
论文作者
论文摘要
在本文中，我们考虑了多机器人路径执行问题，其中一组机器人从预定义路径从其初始位置转移到目标位置，同时避免在异步方面避免碰撞和僵局。我们首先表明，这个问题可以作为分布式资源分配问题进行重新校正，尤其是作为著名的饮酒哲学家问题（DRPP）的实例。通过仔细构建捕获共享资源的饮酒课程，我们表明，任何现有的DRPP解决方案都可以用于设计统称且无碰撞且无僵局的机器人控制政策。然后，我们提出对现有DRPP算法的修改，以允许更多并发行为，并提供我们方法无僵局的条件。我们的方法不需要机器人知道或估计其他机器人的速度概况，并导致分布式控制策略。我们证明了我们方法在模拟示例中的功效，这些示例表现出对最先进的竞争性能。
In this paper, we consider the multi-robot path execution problem where a group of robots move on predefined paths from their initial to target positions while avoiding collisions and deadlocks in the face of asynchrony. We first show that this problem can be reformulated as a distributed resource allocation problem and, in particular, as an instance of the well-known Drinking Philosophers Problem (DrPP). By careful construction of the drinking sessions capturing shared resources, we show that any existing solutions to DrPP can be used to design robot control policies that are collectively collision and deadlock-free. We then propose modifications to an existing DrPP algorithm to allow more concurrent behavior, and provide conditions under which our method is deadlock-free. Our method does not require robots to know or to estimate the speed profiles of other robots and results in distributed control policies. We demonstrate the efficacy of our method on simulation examples, which show competitive performance against the state-of-the-art.
