Robust Aerial Robot Swarms Without Collision Avoidance
Robust Aerial Robot Swarms Without Collision Avoidance
复制标题
坚固的空中机器人群，无需避碰
DOI：
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发表时间：
2018
影响因子：
5.2
通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
Yash Mulgaonkar;Anurag Makineni;Luis Guerrero;Vijay R. Kumar
机器人群集的主要挑战之一来自于设计保证安全的控制器和保证避免碰撞的运动规划器的需求。这转化为测量与邻居接近程度的传感器和随机器人数量呈指数级增长的算法。在许多情况下，这些问题在本质上是以非常不同的方式解决的，特别是在较小的尺度上。在这些尺度上，碰撞造成的损失很小，传感器和控制器不够精确，无法保证无碰撞的轨迹。我们用小型飞行机器人探索类似的方法。我们提出了一种能够承受碰撞的设计、能够从碰撞中恢复的控制器以及允许机器人在不完全了解环境的情况下导航的简单运动规划器。我们用模拟和实验结果说明了生物群的潜力。
One of the main challenges in robot swarming arises from the need to design controllers that guarantee safety and motion planners that guarantee collision avoidance. This translates into sensors that measure proximity to neighbors and algorithms that scale exponentially with the number of robots. In many cases, these problems are solved very differently in nature, especially at smaller scales. The penalty due to collisions is small at these scales and sensors and controllers are not precise enough to guarantee collision-free trajectories. We explore a similar approach with small flying robots. We present a design that is capable of sustaining collisions, controllers that are able to recover from collisions, and simple motion planners that allow the robots to navigate without complete knowledge of the environment. We illustrate the potential of bioinspired swarms using simulations and experimental results.