论文标题
使用块坐标下降（BCD）方法具有异质功能的多机器人团队的覆盖范围控制
Coverage Control for a Multi-robot Team with Heterogeneous Capabilities using Block Coordinate Descent (BCD) Method
论文作者
论文摘要
在本文中，我们为具有异构功能的多机器人团队提出了一个覆盖范围控制系统，以巡逻或监视有限的环境。该功能可以定义为任何机器人的标准，例如剩余功率或移动速度，具体取决于目的。拟议的控制系统旨在根据机器人的功能将不同部分的环境分配给机器人，即具有较高功能的机器人需要更大的环境，而功能较低的机器人则需要较小的机器人。我们使用块坐标下降（BCD）方法来优化部分的位置和分区方法。集中式机器用于同步机器人，并且可以以分布式方式计算每个机器人的梯度。提供仿真结果以说明拟议的控制系统的性能。
In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile speed, depending on the purpose. The proposed control system aims to allocate different portions of the environment to the robots according to their capabilities, i.e., the robot with higher capability takes a larger portion of the environment while the robot with lower capability takes a smaller one. We use the block coordinate descent (BCD) method to optimize the location of portions and the partitioning method alternately. A centralized machine is used to synchronize the robots and the gradient of each robot can be computed in a distributed manner. Simulation results are provided to illustrate the performance of the proposed control system.
