安全、远程访问的群机器人技术在机器人馆中的应用研究
Safe, Remote-Access Swarm Robotics Research on the Robotarium
摘要：
本文介绍了Robotarium -一个远程访问，多机器人研究设施的发展。Robotarium背后的推动力是多机器人测试台构成了多智能体研究周期的一个不可或缺的组成部分，但它们的开发，操作和维护成本高昂，复杂且耗时。这些资源限制反过来又限制了大量研究人员和学生的访问，这就是Robotarium通过为用户提供远程访问最先进的多机器人测试设施而进行的补救。本文详细介绍了Robotarium的设计和操作，以及连接这些特殊的考虑因素时，必须采取复杂的硬件远程访问。特别是，安全性必须在设计阶段就已经内置的，而不过度限制用户可以上传和执行哪些协调控制程序，这需要具有可证明的性能保证的微创安全例程。
英文摘要：
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
