论文标题
基于音乐播放机器人的非著作时空多任务分配的无冲突轨迹
A Non-iterative Spatio-temporal Multi-task Assignments based Collision-free Trajectories for Music Playing Robots
论文作者
论文摘要
在本文中，一个机器人团队使用非题式时空多任务分配方法来弹奏钢琴音乐。本文考虑了钢琴弹奏问题，其中算法需要为动态大小的机器人团队计算轨迹，这些机器人将通过在各自的特定时间上穿越与音符相关的特定位置来播放音符。已经实施了基于时空多任务分配问题（Dream）的两步动态资源分配，以分配用于播放音乐曲调的机器人。该算法计算第一步中播放音乐的所需数量数量。在第二步中，为更新的机器人团队计算了最佳分配，这使团队的总距离最小化。即使对于单个可行的轨迹，如果机器人遇到碰撞，多机器人执行可能会失败。由于某些时间将用于解决这一冲突，因此机器人可能无法按时到达所需的位置。本文分析并证明，如果机器人在凸区域中运行，则梦想方法的解决方案提供了无碰撞的轨迹。在使用ROS2操作的凉亭中的高保真模拟的帮助下，已经说明了梦想方法的工作。结果清楚地表明，梦想方法计算所需的机器人数量，并在最多两个步骤中为机器人分配了多个任务。随附的视频中展示了使用计算的作业的机器人播放音乐的模拟。视频链接：\ url {https://youtu.be/xtoicnm-co8}
In this paper, a non-iterative spatio-temporal multi-task assignment approach is used for playing piano music by a team of robots. This paper considers the piano playing problem, in which an algorithm needs to compute the trajectories for a dynamically sized team of robots who will play the musical notes by traveling through the specific locations associated with musical notes at their respective specific times. A two-step dynamic resource allocation based on a spatio-temporal multi-task assignment problem (DREAM), has been implemented to assign robots for playing the musical tune. The algorithm computes the required number of robots to play the music in the first step. In the second step, optimal assignments are computed for the updated team of robots, which minimizes the total distance traveled by the team. Even for the individual feasible trajectories, the multi-robot execution may fail if robots encounter a collision. As some time will be utilized for this conflict resolution, robots may not be able to reach the desired location on time. This paper analyses and proves that, if robots are operating in a convex region, the solution of the DREAM approach provides collision-free trajectories. The working of the DREAM approach has been illustrated with the help of the high fidelity simulations in Gazebo operated using ROS2. The result clearly shows that the DREAM approach computes the required number of robots and assigns multiple tasks to robots in at most two steps. The simulation of the robots playing music, using computed assignments, is demonstrated in the attached video. video link: \url{https://youtu.be/XToicNm-CO8}
