使用空中机器人团队折叠绳结
Folding Knots Using a Team of Aerial Robots
AI总结：
针对绳结自动化折叠难度高的问题，提出利用空中机器人团队、基于悬链线组合的新绳结表示法和领导者-跟随者轨迹规划方法，实现空中高效实时折叠多种绳结。
摘要：
从古代起，人类就一直使用缆绳和绳索通过折叠绳结来捆绑、搬运和操作物体。然而，实现绳结折叠的自动化颇具挑战性，因为这需要灵巧的操作能力，才能将缆绳在其自身上方和下方移动。在本文中，我们提出了一种使用多架空中飞行器组成的团队在空中折叠绳结的方法。我们利用了飞行器无需重新抓取就能在缆绳段之间飞行的特性。因此，该团队从地面抓起缆绳，待绳结折叠完成后再将其释放。基于悬链线的组合，我们简化了处理缆绳无限维构型空间的复杂度，并正式提出了一种新的绳结表示方法。这种表示方法使我们能够设计出可采用领导者-跟随者方法来折叠绳结的轨迹。我们在仿真中验证了该方法适用于不同类型的绳结。此外，我们还表明，我们的解决方案计算效率高，且能够实时执行。
英文摘要：
From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cable segments without any re-grasping. So the team grasps the cable from the floor, and releases it once the knot is folded. Based on a composition of catenary curves, we simplify the complexity of dealing with an infinite-dimensional configuration space of the cable, and formally propose a new knot representation. Such representation allows us to design a trajectory that can be used to fold knots using a leader-follower approach. We show that our method works for different types of knots in simulations. Additionally, we show that our solution is also computationally efficient and can be executed in real-time.
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。
