A Distributed Swarm Aggregation Algorithm for Bar Shaped Multi-Agent Systems
A Distributed Swarm Aggregation Algorithm for Bar Shaped Multi-Agent Systems
复制标题
条形多智能体系统的分布式群体聚合算法
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
A. Gasparri
中科院分区：
文献类型：
--
作者：
R. Carpio;L. Giulio;E. Garone;G. Ulivi;A. Gasparri
在这项工作中，我们考虑了一群代理形状的酒吧在状态空间中具有一定的方向。群的成员必须达到一个聚合状态，同时保证避免碰撞，并可能实现角度共识。通过依赖于段到段距离的定义，我们提出了一个控制律，引导代理朝着这个目标。所提出的控制方案的理论分析沿着与仿真和实验结果提供。所提出的框架可以用来模拟几个应用场景，从协作运输到精准农业，其中每个代理可以代表一个大型机器人或一组机器人意图进行条形负载。代表性的例子包括：在自动化物流环境中执行协作对象运输任务的机器人团队的车队，或者在精确农业环境中各自携带大型喷雾器以喷洒用于害虫和疾病控制的化学产品的自主拖拉机的车队。
In this work we consider a swarm of agents shaped as bars with a certain orientation in the state space. Members of the swarm have to reach an aggregate state, while guaranteeing the collision avoidance and possibly achieving an angular consensus. By relying on a segment-to-segment distance definition, we propose a control law, which guides the agents towards this goal. A theoretical analysis of the proposed control scheme along with simulations and experimental results is provided. The proposed framework can be used to model several application scenarios ranging from collaborative transportation to precision farming, where each agent may represent either a large robot or a group of robots intent to carry bar-like shaped loads. Representative examples include: a fleet of robot-teams performing a collaborative object transportation task in an automated logistic setting, or a fleet of autonomous tractors each carrying a large atomizer to spray chemical products for pest and disease control in a precision farming setting.