大規模言語モデルに基づく複数ロボットの機能表現と協調行動に関する考察

抄録

A system is expected to facilitate collaboration among multiple construction machines or robots, enabling them to adaptively perform various tasks in disaster sites and unknown environments. This paper proposes a flow that enables adaptive coordination in unexpected scenarios, based on an understanding of the environment and the functional expressions of robots, utilizing GPT-4 and GPT-4V. Through experimentation, we will confirm that the proposed flow are able to adapt to an unforeseen environment, particularly path obstruction via robot experiments. Furthermore, we investigate the validity of the proposed flow by evaluating the experimental results that change the robots’ functional expression.