让不规则形状的无人机集群在多故障下自动重组并保持飞行稳定
TransforMARS: Fault-Tolerant Self-Reconfiguration for Arbitrarily Shaped Modular Aerial Robot Systems
- 基于最小可控单元识别与装配序列规划实现动态重构
- 支持多旋翼和模块故障，可处理比以往更多样化的构型
- 适用于复杂场景下的故障容忍集群飞行，适合机器人系统研究者
模块化空中机器人系统（MARS）由多个无人机模块物理连接形成整体结构进行飞行。利用结构冗余，MARS可在单元或旋翼故障时通过重构不同构型来维持稳定飞行。此前工作仅针对矩形构型的MARS，且仅考虑单个旋翼或单元故障下的最大可控性裕度。本文提出TransforMARS，一种通用的容错自重构框架，可在多种旋翼与单元故障下对任意形状的MARS进行重构，并确保飞行中持续稳定。我们开发了算法以首先识别并构建包含故障模块的最小可控装配体，随后规划可行的解体-再装配序列，将模块或子系统运送到目标构型位置。该方法显著提升了重构的灵活性与实用性。我们在具有挑战性的非规则构型下验证了TransforMARS，结果表明其在处理多样化构型的能力及可容忍故障数量方面均显著优于先前方法。视频与源代码已发布于匿名仓库：https://anonymous.4open.science/r/TransforMARS-1030/
原文摘要 · Abstract (English)
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate unit or rotor failures and maintain stable flight. Prior work on MARS self-reconfiguration has solely focused on maximizing controllability margins to tolerate a single rotor or unit fault for rectangular-shaped MARS. We propose TransforMARS, a general fault-tolerant reconfiguration framework that transforms arbitrarily shaped MARS under multiple rotor and unit faults while ensuring continuous in-air stability. Specifically, we develop algorithms to first identify and construct minimum controllable assemblies containing faulty units. We then plan feasible disassembly-assembly sequences to transport MARS units or subassemblies to form target configuration. Our approach enables more flexible and practical feasible reconfiguration. We validate TransforMARS in challenging arbitrarily shaped MARS configurations, demonstrating substantial improvements over prior works in both the capacity of handling diverse configurations and the number of faults tolerated. The videos and source code of this work are available at the anonymous repository: https://anonymous.4open.science/r/TransforMARS-1030/
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