Networking and Motion Control of Swarm Robots

对于由多个无线联网的机器人组成的机器人群，提出了一种在机器人之间自主生成一组公共坐标并在坐标中通知每个机器人自己的位置和前进方向的方法。通过理论分析和计算机仿真验证了该方法的有效性，并组装了一个由30台机器人组成的实验机器人群，最后通过实验验证了该方法的有效性。

For a robot swarm composed of many wirelessly networked robots, a method is proposed to autonomously generate a single set of common coordinates among the robots and to notify each robot of its location and heading direction in the coordinates. The proposed method is developed through theoretical analyses and computer simulations, and then after assembling an experimental robot swarm composed of thirty robots, it is finally validated by experiments with the robot swarm.