Robopheus：一个虚拟-物理交互式移动机器人实验平台
Robopheus: A Virtual-Physical Interactive Mobile Robotic Testbed
摘要：
移动机器人实验平台是验证移动机器人研究有效性的重要支撑。本文介绍了一种新型的多机器人实验平台，命名为Robopheus，它利用数字孪生的虚拟物理建模的思想。与大多数现有的测试平台不同，开发的Robopheus构建了一座连接传统物理硬件和虚拟仿真测试平台的桥梁，在双方提供可扩展的，交互式的和高保真的仿真测试。Robopheus的另一个突出特点是，它使一种新的形式，从物理环境中动态学习实际模型，并与异构机器人底盘和控制器兼容。反过来，虚拟世界的学习模型被进一步利用来近似物理方面的机器人动态在线。大量的实验证明了Robopheus的非凡性能。值得注意的是，与不使用交互的情况相比，物理-虚拟交互设计将真实机器人的轨迹精度提高了300%。
英文摘要：
The mobile robotic testbed is an essential and critical support to verify the effectiveness of mobile robotics research. This paper introduces a novel multi-robot testbed, named Robopheus, which exploits the ideas of virtual-physical modeling in digital-twin. Unlike most existing testbeds, the developed Robopheus constructs a bridge that connects the traditional physical hardware and virtual simulation testbeds, providing scalable, interactive, and high-fidelity simulations-tests on both sides. Another salient feature of the Robopheus is that it enables a new form to learn the actual models from the physical environment dynamically and is compatible with heterogeneous robot chassis and controllers. In turn, the virtual world's learned models are further leveraged to approximate the robot dynamics online on the physical side. Extensive experiments demonstrate the extraordinary performance of the Robopheus. Significantly, the physical-virtual interaction design increases the trajectory accuracy of a real robot by 300%, compared with that of not using the interaction.
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