用空间位移替代时间控制，让机器人队列精准跟随
Robot Conga: A Leader-Follower Walking Approach to Sequential Path Following in Multi-Agent Systems
- 以领导者空间位置为基准更新各机器人目标状态
- 四足机器人250步内（约0.25秒）完成对齐，轮式机器人几乎瞬时对齐
- 适合室内高精度定位场景下的多机器人协同移动
多智能体系统中的协调路径跟踪是机器人领域的关键挑战，广泛应用于自动化物流、监控和协同探索。传统形成控制方法依赖时间参数化轨迹和路径积分，易引发同步问题且行为僵硬。本文提出一种名为Robot Conga的领导者-追随者控制策略，通过空间位移而非时间来更新各代理的目标状态，实现沿共同轨迹的固定间距序列跟踪。该方法在具备全局位置参考（如动作捕捉、视觉追踪或超宽带定位）的室内环境中有效。在TurtleBot3与Laikago四足机器人上的仿真验证表明，系统具备精确轨迹跟踪能力、稳定的机器人间距以及快速收敛性：四足机器人在250个时间步（约0.25秒）内完成对齐，轮式机器人实现近乎即时对齐。
原文摘要 · Abstract (English)
Coordinated path following in multi-agent systems is a key challenge in robotics, with applications in automated logistics, surveillance, and collaborative exploration. Traditional formation control techniques often rely on time-parameterized trajectories and path integrals, which can result in synchronization issues and rigid behavior. In this work, we address the problem of sequential path following, where agents maintain fixed spatial separation along a common trajectory, guided by a leader under centralized control. We introduce Robot Conga, a leader-follower control strategy that updates each agent's desired state based on the leader's spatial displacement rather than time, assuming access to a global position reference, an assumption valid in indoor environments equipped with motion capture, vision-based tracking, or UWB localization systems. The algorithm was validated in simulation using both TurtleBot3 and quadruped (Laikago) robots. Results demonstrate accurate trajectory tracking, stable inter-agent spacing, and fast convergence, with all agents aligning within 250 time steps (approx. 0.25 seconds) in the quadruped case, and almost instantaneously in the TurtleBot3 implementation.
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