论文标题
天文学：天体物理研究的机器人技术
Astrobotics: Swarm Robotics for Astrophysical Studies
论文作者
论文摘要
本文介绍了天文学的新兴领域，即最近建立的机器人技术，可以为天体物理学和观察天文学服务。我们首先描述了暗物质研究的现代需求，即使用Astrobot的可观察到宇宙图的产生。在两个方面，机器人与常规的两级机器人操纵器不同。首先，天体的密集形成产生了相邻天体的极端重叠动力，这使它们严重遭受碰撞。其次，由于嵌入的光纤通过它们的嵌入式光纤，因此机器人的结构及其机械规格是专门的。我们专注于天体的协调问题，其解决方案应无碰撞，快速执行，并且就天文学家的收敛速度而言完成。我们还说明了天体分配对观察目标对呈现该领域现状的协调解决方案质量的重大影响，我们详细阐述了开放问题，包括下一代天体物理项目，包括20,000个天文学家，包括其他领域，以及其他领域，例如太空碎片，例如潜在使用的天体，可能是潜在使用的天体。
This paper introduces the emerging field of astrobotics, that is, a recently-established branch of robotics to be of service to astrophysics and observational astronomy. We first describe a modern requirement of dark matter studies, i.e., the generation of the map of the observable universe, using astrobots. Astrobots differ from conventional two-degree-of-freedom robotic manipulators in two respects. First, the dense formation of astrobots give rise to the extremely overlapping dynamics of neighboring astrobots which make them severely subject to collisions. Second, the structure of astrobots and their mechanical specifications are specialized due to the embedded optical fibers passed through them. We focus on the coordination problem of astrobots whose solutions shall be collision-free, fast execution, and complete in terms of the astrobots' convergence rates. We also illustrate the significant impact of astrobots assignments to observational targets on the quality of coordination solutions To present the current state of the field, we elaborate the open problems including next-generation astrophysical projects including 20,000 astrobots, and other fields, such as space debris tracking, in which astrobots may be potentially used
