用耦合振荡器实现去中心化自组织无人机群，提升适应性与稳定性。
Decentralised, Self-Organising Drone Swarms using Coupled Oscillators
- 基于耦合振荡器设计去中心化控制机制，无需中央调度
- 支持动态数量无人机自发成群，可自适应环境变化
- 内置抗干扰通信与信号处理，适合复杂现实场景
机器人同步与协调问题长期存在。将自主系统与不可预测的现实条件结合，可能导致性能下降、碰撞甚至损坏。本文提出使用耦合振荡器构建去中心化、自组织的无人机群，相比硬编码群集更具灵活性与适应性，相比集中式系统更具鲁棒性与可扩展性。该方法允许任意数量的无人机自发形成群体，并响应群体状态变化。此外，该方法包含防止无人机间通信干扰的机制，以及确保群体运动平滑一致的信号处理技术。
原文摘要 · Abstract (English)
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and damage. This paper proposes using coupled oscillators to create a drone swarm that is decentralised and self organising. This allows for greater flexibility and adaptiveness than a hard-coded swarm, with more resilience and scalability than a centralised system. Our method allows for a variable number of drones to spontaneously form a swarm and react to changing swarm conditions. Additionally, this method includes provisions to prevent communication interference between drones, and signal processing techniques to ensure a smooth and cohesive swarm.
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