提出新型容错控制与轨迹规划方法，提升模块化无人机系统的稳定性和抗故障能力。
MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems
- 根据模块距质心距离分配合力与力矩，实现任意数量和构型的自适应容错控制。
- 在复杂环境中实现无碰撞、动态可行的敏捷轨迹规划，仿真验证跟踪精度更高。
- 首个兼顾容错与避障的模块化飞行系统方案，适合多无人机协同任务研究者。
模块化空中机器人系统（MARS）由多个可自主重组的无人机单元组成，能适应不同任务需求与故障状态。然而，现有容错控制方法在对接与分离过程中存在显著振荡，影响系统稳定性。为此，本文提出一种新型容错控制重分配算法，可适应任意数量的模块化机器人及其组装构型。该算法依据各单元相对于MARS质心的力臂，将整体所需合力与力矩重新分配至各单元。此外，提出一种适用于任意构型的敏捷轨迹规划方法，具备避碰性与动态可行性。本工作是首个全面实现MARS容错与避障飞行的综合方案。通过大量仿真验证，所提方法显著提升了容错能力、轨迹跟踪精度，并在复杂环境中表现出更强鲁棒性。相关视频与源代码已公开于https://github.com/RuiHuangNUS/MARS-FTCP/
原文摘要 · Abstract (English)
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations during docking and separation, impacting system stability. To address this issue, we propose a novel fault-tolerant control reallocation method that adapts to an arbitrary number of modular robots and their assembly formations. The algorithm redistributes the expected collective force and torque required for MARS to individual units according to their moment arm relative to the center of MARS mass. Furthermore, we propose an agile trajectory planning method for MARS of arbitrary configurations, which is collision-avoiding and dynamically feasible. Our work represents the first comprehensive approach to enable fault-tolerant and collision avoidance flight for MARS. We validate our method through extensive simulations, demonstrating improved fault tolerance, enhanced trajectory tracking accuracy, and greater robustness in cluttered environments. The videos and source code of this work are available at https://github.com/RuiHuangNUS/MARS-FTCP/
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