异构多机器人系统在未知环境中的分散式情报、监视和侦察
Decentralised Intelligence, Surveillance, and Reconnaissance in Unknown Environments with Heterogeneous Multi-Robot Systems
摘要：
我们提出了一个分散的，异构的多机器人系统在未知的环境中执行情报，监视和侦察（ISR）的设计和实施。该团队由功能专业化的机器人组成，这些机器人收集信息和执行特定任务的其他机器人，并进行协调，以实现在未知环境中的同时探索和开发。我们提出了一个实际的实现这样一个系统，包括分散的机器人间的定位，映射，数据融合和协调。该系统是在一个有效的分布式仿真证明。我们还描述了一个UAS平台的硬件实验，和正在进行的进展。
英文摘要：
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots that gather information and others that perform a mission-specific task, and is coordinated to achieve simultaneous exploration and exploitation in the unknown environment. We present a practical implementation of such a system, including decentralised inter-robot localisation, mapping, data fusion and coordination. The system is demonstrated in an efficient distributed simulation. We also describe an UAS platform for hardware experiments, and the ongoing progress.
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。
