Scalable Control of Distributed Robotic Macrosensors
Scalable Control of Distributed Robotic Macrosensors
复制标题
分布式机器人宏传感器的可扩展控制
DOI：
10.1007/978-4-431-35873-2_37
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
J. Bennett
中科院分区：
文献类型：
--
作者：
B. Shucker;J. Bennett
本文描述了一种控制机制，通过该机制可以将大量廉价的机器人部署为分布式遥感仪器，并且传感仪器的所需大规模特性来自其组件机器人的简单成对交互。这种传感仪器被称为分布式机器人宏观传感器。宏传感器中的机器人使用虚拟弹簧网格抽象与它们的近邻进行交互，该抽象由一个简单的物理模型控制。通过仔细定义弹簧网格的性质和相关的物理模型，可以在没有任何全局控制或配置的情况下创建许多理想的全局行为。由此产生的宏传感器的特性包括任意可伸缩性、在复杂环境中工作的能力、复杂的目标跟踪能力和自然容错能力。我们描述了产生这些结果的控制机制，以及证明其有效性的仿真结果。
This paper describes a control mechanism by which large numbers of inexpensive robots can be deployed as a distributed remote sensing instrument, and in which the desired large-scale properties of the sensing instrument emerge from the simple pair-wise interactions of its component robots. Such sensing instruments are calleddistributed robotic macrosensors. Robots in the macrosensor interact with their immediate neighbors using a virtual spring mesh abstraction, which is governed by a simple physics model. By carefully defining the nature of the spring mesh and the associated physics model, it is possible to create a number of desirable global behaviors without any global control or configuration. Properties of the resulting macrosensor include arbitrary scalability, the ability to function in complex environments, sophisticated target tracking ability, and natural fault tolerance. We describe the control mechanisms that yield these results, and the simulation results that demonstrate their efficacy.