通过虚拟模型控制实现多人多机协作，零死锁且可扩展。
Distributed Virtual Model Control for Scalable Human-Robot Collaboration in Shared Workspace
- 用虚拟弹簧阻尼系统替代路径规划，实现自然交互
- 死锁检测与协商机制使机器人卡死率从61.2%降至0%
- 无需结构改动即可支持4台机器人+2人安全协作
我们提出一种去中心化、与智能体无关且具备安全意识的协同控制框架，基于虚拟模型控制（VMC）。在该方法中，人类与机器人共享同一虚拟组件形状的工作空间，运动由与虚拟弹簧和阻尼器的交互决定，而非显式轨迹规划。采用基于力的去中心化死锁检测器识别死锁，并通过协商解决。实验表明，该方法将机器人在放置任务中卡死的概率从最高61.2%降至0%。由于分布式实现，系统无需结构变更即可扩展：实测支持最多2台机器人与2名人类协作，仿真中达4台机器人，保持各智能体间距离约20厘米。结果表明，通过调节控制参数可直观塑造机器人行为，在所有测试场景下均实现无死锁运行。
原文摘要 · Abstract (English)
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped workspace, where motion is the result of the interaction with virtual springs and dampers rather than explicit trajectory planning. A decentralized, force-based stall detector identifies deadlocks, which are resolved through negotiation. This reduces the probability of robots getting stuck in the block placement task from up to 61.2% to zero in our experiments. The framework scales without structural changes thanks to the distributed implementation: in experiments we demonstrate safe collaboration with up to two robots and two humans, and in simulation up to four robots, maintaining inter-agent separation at around 20 cm. Results show that the method shapes robot behavior intuitively by adjusting control parameters and achieves deadlock-free operation across team sizes in all tested scenarios.
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