用统一控制器安全高效控制大规模异构机器人集群。
One Ring to Rule Them All: Constrained Distributional Control for Massive-Scale Heterogeneous Robotic Ensemble Systems
- 通过核空间映射将群体动力学转为矩系统，实现整体行为建模。
- 在约束环境下完成复杂路径规划与避障，仅用单一控制器达成目标。
- 适合需要协同控制大量异构机器人的智能系统设计者参考。
群体控制旨在使用共享控制输入引导一类动态系统的集合。本文针对具有参数化差异的异构机器人系统，在状态与环境约束（如避障）下提出一种约束型群体控制框架。我们构建了一种矩核变换方法，将参数化群体动力学映射至核空间中的矩系统，从而刻画群体层面的行为特征。状态空间约束（如多面体航点与障碍物）也被映射至矩空间，形成统一的安全大规模群体控制公式。采用表达性强的信号时序逻辑编码复杂访问-回避任务，通过本框架合成的单个共享控制器即可实现。仿真与硬件实验验证了该方法在受限环境中安全高效控制机器人集群的有效性。
原文摘要 · Abstract (English)
Ensemble control aims to steer a population of dynamical systems using a shared control input. This paper introduces a constrained ensemble control framework for parameterized, heterogeneous robotic systems operating under state and environmental constraints, such as obstacle avoidance. We develop a moment kernel transform that maps the parameterized ensemble dynamics to the moment system in a kernel space, enabling the characterization of population-level behavior. The state-space constraints, such as polyhedral waypoints to be visited and obstacles to be avoided, are also transformed into the moment space, leading to a unified formulation for safe, large-scale ensemble control. Expressive signal temporal logic specifications are employed to encode complex visit-avoid tasks, which are achieved through a single shared controller synthesized from our constrained ensemble control formulation. Simulation and hardware experiments demonstrate the effectiveness of the proposed approach in safely and efficiently controlling robotic ensembles within constrained environments.
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