一种协调多机器人行为的顺序合成框架
A Sequential Composition Framework for Coordinating Multi-Robot Behaviors
摘要：
为了实现多机器人系统的特定任务，已经提出了许多协调行为。然而，由于大多数应用程序需要不止一个这样的行为，一个需要能够组合在一起的行为序列，同时尊重本地信息流的约束。具体地，当智能体通信取决于机器人间距离时，这些约束转化为必须在有限时间内达到的特定配置，以便系统能够在行为之间转换。为此，我们开发了一个分布式框架的基础上，有限时间收敛控制障碍功能，使一个团队的机器人，以满足不同任务的通信要求，以调整其配置。为了证明所提出的框架的意义，我们实现了一个全面的场景，其中一个团队的8个平面机器人探索城市环境，以本地化和救援的主题。
英文摘要：
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors while respecting local information flow constraints. Specifically, when the inter-agent communication depends on inter-robot distances, these constraints translate into particular configurations that must be reached in finite time in order for the system to be able to transition between the behaviors. To this end, we develop a distributed framework based on finite-time convergence control barrier functions that enables a team of robots to adjust its configuration in order to meet the communication requirements for the different tasks. In order to demonstrate the significance of the proposed framework, we implemented a full-scale scenario where a team of eight planar robots explore an urban environment in order to localize and rescue a subject.
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。
