用几何嵌入让无人机群自动形成稳定闭合轨迹，无需全局规划。
Emergent Structure in Multi-agent Systems Using Geometric Embeddings
- 基于代理位置旋转构造保结构的虚拟嵌入，实现局部感知下的全局稳定
- 实测4架四旋翼无人机成功形成均匀分布的闭合轨迹，能耗更低
- 适合无人飞行器协同任务，尤其适用于无中心控制的复杂环境
本文研究多智能体系统在无人飞行器巡检任务中自发形成闭合轨迹的现象。为节省能量并减少机械应力，需生成平滑且无偏的控制信号。我们提出一种去中心化控制架构，仅依赖局部观测即可产生全局稳定的涌现结构，无需共享全局计划或遵循预设轨迹。核心是通过实际代理位置的旋转构造一个单射的虚拟嵌入，该嵌入作为相对位置稳定的结构保持映射，支持使用成熟的线性控制技术。嵌入设计为与目标轨迹拓扑等价（即同胚），从而保持稳定性特征。我们在一组Quanser QDrone四旋翼无人机上验证了该方法，结果表明无人机能自发组织成所需轨迹，并保持均匀间距。
原文摘要 · Abstract (English)
This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scenarios, smooth, unbiased control signals save energy and mitigate mechanical strain. We propose a decentralized control system architecture that produces a globally stable emergent structure from local observations only; there is no requirement for agents to share a global plan or follow prescribed trajectories. Central to our approach is the formulation of an injective virtual embedding induced by rotations from the actual agent positions. This embedding serves as a structure-preserving map around which all agent stabilize their relative positions and permits the use of well-established linear control techniques. We construct the embedding such that it is topologically equivalent to the desired trajectory (i.e., a homeomorphism), thereby preserving the stability characteristics. We demonstrate the versatility of this approach through implementation on a swarm of Quanser QDrone quadcopters. Results demonstrate the quadcopters self-organize into the desired trajectory while maintaining even separation.
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