论文标题
受昆虫启发的视觉引导分散群
Insect-inspired Visually-guided Decentralized Swarming
论文作者
论文摘要
本文解决了在有限的计算和没有明确的通信网络或位置来源的情况下快速，轻巧，视觉引导的蜂群的需求。该研究开发了一个多代理光流传感框架，然后将完美的信息与视觉流相传感集成在一起，以创建一个类似的视觉反馈路径，以实现理想化的间距速度和距离结构。 cucker-smale羊群示例用于发展视觉引导的蜂群，并具有严格的渐近收敛保证，包括对剂大小的无知。
This paper addresses the need for fast, lightweight, vision-guided swarming under limited computation and no explicit communication network or position source. The study develops a multi-agent optic flow sensing framework, then integrates perfect information distributed feedback with optic flow sensing to create an analogous visually-guided feedback path for idealized inter-agent velocity and distance structures. The Cucker-Smale flocking example is used to develop vision-guided swarming with rigorous asymptotic convergence guarantees, including under ignorance of agent size.
