论文标题
基于运输的最佳覆盖范围控制机器人系统：基于Voronoi Tessellation方法的概括
Optimal Transport-based Coverage Control for Swarm Robot Systems: Generalization of the Voronoi Tessellation-based Method
论文作者
论文摘要
由许多合作的移动机器人组成的Shear机器人系统引起了人们对环境适应性和容忍度的优势的关注。此类系统最重要的任务之一是覆盖范围控制，其中机器人自主部署以近似给定的空间分布。在这项研究中，我们使用最佳运输概念制定了覆盖范围控制范式，并提出了一种新颖的控制技术，我们称其为基于最佳运输的覆盖范围控制（OTCC）方法。提出的OTCC通过坎托维奇二重问题的成本函数的梯度流得出，显示出广泛使用的现有控制方法作为特殊情况。我们还对受控系统执行Lyapunov稳定性分析，并提供数值计算，以表明OTCC比现有控制方法更好地重现了目标分布。
Swarm robot systems, which consist of many cooperating mobile robots, have attracted attention for their environmental adaptability and fault tolerance advantages. One of the most important tasks for such systems is coverage control, in which robots autonomously deploy to approximate a given spatial distribution. In this study, we formulate a coverage control paradigm using the concept of optimal transport and propose a novel control technique, which we have termed the optimal transport-based coverage control (OTCC) method. The proposed OTCC, derived via the gradient flow of the cost function in the Kantorovich dual problem, is shown to covers a widely used existing control method as a special case. We also perform a Lyapunov stability analysis of the controlled system, and provide numerical calculations to show that the OTCC reproduces target distributions with better performance than the existing control method.
