无需通信的机器人集群防撞新方法，靠预设规则实现安全协作。
Contingency Model-based Control (CMC) for Communicationless Cooperative Collision Avoidance in Robot Swarms
- 基于预设共识规则，不依赖通信网络进行决策
- 确保所有机器人在闭环运行中持续防撞且路径可递归求解
- 适合动态加入机器人的集群系统，如救援或编队任务
机器人集群间的协同防撞仍是开放挑战。在去中心化架构下，各智能体需自主决策与控制。现有方法多依赖无线通信，但现实中通信易受延迟、丢包、故障及干扰攻击影响。本文提出无通信的协商式控制（CMC），所有智能体通过离线设计的统一规则协同工作，类似交通规则。CMC定义每台机器人预设的应急轨迹，并以垂直平分面作为防撞约束。该方法保证闭环运行中所有成员的递归可行性与防撞性，天然支持即插即用，新机器人可动态加入。两个数值实验验证了其在受限环境中的有效性，系统防撞保障完整，运行平稳。
原文摘要 · Abstract (English)
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most existing approaches rely on a (wireless) communication network between (some of) the agents. In reality, however, communication is brittle. It may be affected by latency, further delays and packet losses, and transmission faults. Moreover, it is subject to adversarial attacks, such as jamming or spoofing. This paper proposes Contingency Model-based Control (CMC), a decentralized cooperative approach that does not rely on communication. Instead, the control algorithm is based on consensual rules that are designed for all agents offline, similar to traffic rules. For CMC, this includes the definition of a contingency trajectory for each robot, and perpendicular bisecting planes as collision avoidance constraints. The setup permits a full guarantee of recursive feasibility and collision avoidance between all swarm members in closed-loop operation. CMC naturally satisfies the plug & play paradigm, i.e., new robots may enter the swarm dynamically. The effectiveness of the CMC regime is demonstrated in two numerical examples, showing that the collision avoidance guarantee is intact and the robot swarm operates smoothly in a constrained environment.
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。