用时空几何设计控制场，让低算力机器人自主避障并完成复杂任务。
Artificial Spacetimes for Reactive Control of Resource-Limited Robots
- 将机器人控制场类比为相对论中的时空，利用光线路径原理设计导航策略。
- 静态场即可实现避障与集束、分拣等复合行为，无需实时计算。
- 提供形式化分析工具，适合微纳机器人等资源受限系统应用。
基于场的反应式控制为缺乏本地计算能力的机器人提供了轻量级、去中心化的引导方式，特别适用于微米级机器人等资源受限设备。然而，现有方案存在实现缺陷、行为有限且缺乏形式化保证等问题。本文提出一种新的几何方法——人工时空，揭示了在控制场中移动的机器人其运动规律与广义相对论中光子轨迹一致。这一发现使我们能够借鉴相对论与光学技术来构建和分析控制场。实验表明，即使在静态场条件下，人工时空也能引导机器人在结构化环境中避开边界，并完成集束或分拣等任务。同时，本文还引入形式化分析工具以预测机器人行为，并通过硅基微机器人实验验证了该方法的有效性。整体上，本工作为低开销生成复杂机器人行为提供了新框架。
原文摘要 · Abstract (English)
Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited behaviors, and the frequent lack of formal guarantees blunt adoption. Here, we address these challenges with a new geometric approach called artificial spacetimes. We show that reactive robots navigating control fields obey the same dynamics as light rays in general relativity. This surprising connection allows us to adopt techniques from relativity and optics for constructing and analyzing control fields. When implemented, artificial spacetimes guide robots around structured environments, simultaneously avoiding boundaries and executing tasks like rallying or sorting, even when the field itself is static. We augment these capabilities with formal tools for analyzing what robots will do and provide experimental validation with silicon-based microrobots. Combined, this work provides a new framework for generating composed robot behaviors with minimal overhead.
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