センサ故障ロボットを含む群ロボットの協調移動のための相対位置推定

抄録

In this study, we aim to develop a method for maintaining the cooperative behavior of multi-robot systems even when the external sensor of a robot fails. We develop a method for the failed robot to estimate the relative position of the neighbor robots. Assuming that only the relative positions between robots can be observed by external sensors, we estimate the relative orientation of robots based on the displacement of the failed robot. The main causes of estimation errors are discussed through computer simulations.