Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation

This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for user commands to onboard control of robotic agents based on de...

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Veröffentlicht in:arXiv.org 2020-06
Hauptverfasser: Prabhakar, Ahalya, Abraham, Ian, Taylor, Annalisa, Schlafly, Millicent, Popovic, Katarina, Diniz, Giovani, Teich, Brendan, Simidchieva, Borislava, Clark, Shane, Murphey, Todd
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Sprache:eng
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Zusammenfassung:This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for user commands to onboard control of robotic agents based on decentralized ergodic coverage. Our approach demonstrates reliable and dynamic control of a swarm collective through the use of ergodic specifications for planning and executing agent trajectories as well as responding to user and external inputs. We validate our approach in a virtual reality simulation environment and in real-world experiments at the DARPA OFFSET Urban Swarm Challenge FX3 field tests with a robotic swarm where user-based control of the swarm and mission-based tasks require a dynamic and flexible response to changing conditions and objectives in real-time.
ISSN:2331-8422