远程机器人集群通过互联网协同控制，稳定可靠。
Robot Swarming over the internet
- 跨网络远程协同控制，实时交换位置速度信息
- 无丢包，延迟在实用范围内，所有机器人跟随指定领导者
- 首次实现大规模网络下的机器人集群控制，适合分布式系统研究
本文研究了分布在不同远程测试平台的机器人协同控制问题，通过互联网实现状态信息（如位置、速度和方向）的实时交换，支持集群算法运行。实验结果表明，所有机器人均能正确跟随由任一测试平台定义的领导者。数据传输速率测量显示无丢包现象，平均传输延迟保持在实际应用可接受范围内。据我们所知，该工作的创新性在于实现了基于大型网络（如互联网）的机器人集群控制，为远距离分布式协作提供了新范式。
原文摘要 · Abstract (English)
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and directions needed for the swarming algorithm. The results show that all robots properly follow some leader defined one of the testbeds. Measurement of data exchange rates show no loss of packets, and average transfer delays stay within tolerance limits for practical applications. In our knowledge, the novelty of this paper concerns this kind of control over a large network like internet.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。