主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2024
開催日: 2024/05/29 - 2024/06/01
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.