论文标题
基于小组的大规模微型机器人群的控制机载物有限状态机器
Group-based control of large-scale micro-robot swarms with on-board Physical Finite-State Machines
论文作者
论文摘要
微型机构中的一个重要问题是如何控制具有全局控制信号的大型微型机器人。本文着重于控制大规模的微磨损机器人，并使用车载物理有限状态机器来控制。我们介绍了基于组的控制的概念，这使得可以扩大群体大小，同时降低机器人制造和群体控制的复杂性。我们证明，基于组的控制系统可以在机器人位置上本地访问。我们进一步基于广泛的模拟，即该系统在全球可控。提出了一种非线性优化策略，以最大程度地减少控制努力来控制群体。我们还提出了一种适合在线使用的概率完整的避免碰撞方法。本文以模拟中提出的方法的评估结束。
An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStressBots with on-board physical finite-state machines. We introduce the concept of group-based control, which makes it possible to scale up the swarm size while reducing the complexity both of robot fabrication as well as swarm control. We prove that the group-based control system is locally accessible in terms of the robot positions. We further hypothesize based on extensive simulations that the system is globally controllable. A nonlinear optimization strategy is proposed to control the swarm by minimizing control effort. We also propose a probabilistically complete collision avoidance method that is suitable for online use. The paper concludes with an evaluation of the proposed methods in simulations.
