文章基本信息

标题：Study of Variational Inference for Flexible Distributed Probabilistic Robotics
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作者：Malte Rørmose Damgaard ; Rasmus Pedersen ; Thomas Bak 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2022
卷号：11
期号：2
页码：38
DOI：10.3390/robotics11020038
语种：English
出版社：MDPI Publishing
摘要：By combining stochastic variational inference with message passing algorithms, we show how to solve the highly complex problem of navigation and avoidance in distributed multi-robot systems in a computationally tractable manner, allowing online implementation. Subsequently, the proposed variational method lends itself to more flexible solutions than prior methodologies. Furthermore, the derived method is verified both through simulations with multiple mobile robots and a real world experiment with two mobile robots. In both cases, the robots share the operating space and need to cross each other’s paths multiple times without colliding.