Infinitesimal Shape-Similarity for Characterization and Control of Bearing-Only Multirobot Formations
Infinitesimal Shape-Similarity for Characterization and Control of Bearing-Only Multirobot Formations
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DOI：
10.1109/tro.2021.3072549
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发表时间：
2021-12-01
影响因子：
7.8
通讯作者：
Egerstedt, Magnus
中科院分区：
文献类型：
--
作者：
Buckley, Ian;Egerstedt, Magnus
在将机器人组织成队形时，团队的基本网络拓扑与单个机器人可用的传感和通信方式之间的相互作用对可能的队形类型具有根本性的影响。本文的目的是刻画在安装了纯方位传感器的机器人之间保持相对角度的编队的可用运动。首先，研究了机器人之间保持一定角度以确保编队对平移、旋转和均匀缩放不变的框架的无穷小形状相似性；对形状相似矩阵进行了重新开发，并给出了关于其零空间的结果。其次，三角剖分，一类框架，被证明是无限小形状相似的。最后，通过设计一种分散的异质编队控制策略来研究网络拓扑与机器人能力之间的耦合，其中所有机器人都配备了纯方位传感器，并且单个机器人可以测量距离；该编队控制策略在差动驱动机器人团队上进行了演示。
When organizing robots into formations, the interplay between the underlying network topology of the team and the sensing and communication modalities available to the individual robots has a fundamental effect on what types of formations are possible. The purpose of this article is to characterize the available motions of formations in which relative angles between robots equipped with bearing-only sensors are maintained. First, infinitesimal shape-similarity, a property of frameworks for which maintaining certain angles between robots ensures that the formation is invariant to translation, rotation, and uniform scaling, is examined; the shape-similarity matrix is redeveloped, and results on its nullspace are presented. Second, triangulations, a class of frameworks, are shown to be infinitesimally shape-similar. Finally, the coupling between network topology and robot capabilities is examined through the design of a decentralized heterogeneous formation-control strategy for a class of triangulations in which all robots are equipped with bearing-only sensors and a single robot can measure distances; the formation-control strategy is demonstrated on a team of differential-drive robots.