提出动态重构算法，让机器人集群精准变形成目标形状。
Dynamic Reconfiguration of Robotic Swarms: Coordination and Control for Precise Shape Formation
- 基于几何建模规划路径，实现集群整体协调移动。
- 支持无缝过渡，可在物理系统中稳定执行复杂构型变化。
- 适合需要高精度编队的机器人集群应用。
机器人集群的运动协调与构型控制是一项极具挑战性的任务。确定每个个体机器人的移动时机与位置涉及复杂的计算问题，且受物理系统固有缺陷（如测量误差、控制动态）影响更为严重。如何最优地规划从一种构型到另一种的移动路径，以及如何高效完成路径规划并实施相应运动，仍是开放性难题。本文提出一种机器人集群协调算法，通过将几何公式映射至物理域，结合适当的控制、定位与建图技术，实现构型间的无缝切换。该方法为机器人集群实现更复杂的分布式行为提供了可能，推动其在新型应用场景中的落地。
原文摘要 · Abstract (English)
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties inherent to physical systems, such as measurement error and control dynamics. Thus, how to best determine the optimal path for each robot, when moving from one configuration to another, and how to best perform such determination and effect corresponding motion remains an open problem. In this paper, we show an algorithm for such coordination of robotic swarms. Our methods allow seamless transition from one configuration to another, leveraging geometric formulations that are mapped to the physical domain through appropriate control, localization, and mapping techniques. This paves the way for novel applications of robotic swarms by enabling more sophisticated distributed behaviors.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。