群ロボットシステムの異常対応に向けた自律分散的救助アーキテクチャの提案と実装

抄録

In the case of a swarm robot system in an unlimited environment such as a disaster site, it is necessary to take an approach in which robots autonomously solve each other’s anomalies such as stuck robots or malfunctions. This paper proposes an example of an autonomous anomaly diagnosis and rescue architecture with swarm robots. Through verification using actual robots equipped with rescue mechanisms, this paper presents an example of architecture design for responding to an anomaly.