论文标题
使用半居中的控制方法在未知环境中通过多机器人系统通过多机器人系统进行脆弱的对象传输
Fragile object transportation by a multi-robot system in an unknown environment using a semi-decentralized control approach
论文作者
论文摘要
在本文中，我们引入了一种半居中的控制技术，用于在不确定的遮挡环境中运送脆弱物体到目的地的一群机器人。该方法已分为两部分。初始部分（第1阶段）包括一种集中的控制策略，用于在代理之间创建特定的形成，以便可以将要运输的对象正确放在系统顶部。我们提出了一种与基于圆形区域的形状控制方法融合在一起的新型三角填料方案，用于在机器人之间创建刚性配置。在后面（第2阶段）中，需要群体系统以分散的方式采用基于区域的形状控制方法将对象传达到目的地。模拟结果以及比较研究证明了我们提出的方案的有效性。
In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial part (Phase 1) includes a centralized control strategy for creating a specific formation among the agents so that the object to be transported, can be positioned properly on the top of the system. We present a novel triangle packing scheme fused with a circular region-based shape control method for creating a rigid configuration among the robots. In the later part (Phase 2), the swarm system is required to convey the object to the destination in a decentralized way employing the region based shape control approach. The simulation result as well as the comparison study demonstrates the effectiveness of our proposed scheme.
