论文标题
对极简机器人群的分散控制，以保证目标封装
Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation
论文作者
论文摘要
我们提出了一种分散的对照算法，用于具有有限能力的极简主义机器人群，因此出现了所需的全球行为。我们考虑搜索和封装环境中存在的各种目标的问题，同时避免静态和动态障碍物发生冲突。这项工作的新颖性是保证了所需的复杂群体行为，其有限的单个机器人没有记忆力，没有定位，也不了解其邻居的确切相对位置。此外，我们分析了新兴行为如何随任务的不同参数，传感器读数中的噪声和异步执行而变化。
We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the environment while avoiding collisions with both static and dynamic obstacles. The novelty of this work is the guaranteed generation of desired complex swarm behavior with constrained individual robots which have no memory, no localization, and no knowledge of the exact relative locations of their neighbors. Moreover, we analyze how the emergent behavior changes with different parameters of the task, noise in the sensor reading, and asynchronous execution.
