少模拟，多期待：通过低逼真度模拟将机器人群带入生活
Simulate Less, Expect More: Bringing Robot Swarms to Life via Low-Fidelity Simulations
摘要：
本文提出了一种新的方法来解决多机器人群体系统的仿真现实差距。而不是立即尝试缩小或“弥合差距”任何时候一个现实世界的实验失败，在模拟工作，我们的特征条件下，这实际上是必要的。当这些条件不满足时，我们展示了如何仍然可以使用非常简单的模拟器来（i）设计新的多机器人系统，以及（ii）当差距非常大时，引导现实世界的群集实验朝向某些紧急行为。关键思想是一个迭代的仿真器在设计循环中，真实世界的实验，仿真器的修改，和模拟实验是密切耦合的方式，头脑的差距，而不需要缩小它，以及使用最低可行的相图来指导现实世界的实验。我们证明了我们的方法部署一个真正的多机器人群系统，成功地表现出紧急铣削行为的有用性。
英文摘要：
This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or `bridge the gap' anytime a real-world experiment failed that worked in simulation, we characterize conditions under which this is actually necessary. When these conditions are not satisfied, we show how very simple simulators can still be used to both (i) design new multi-robot systems, and (ii) guide real-world swarming experiments towards certain emergent behaviors when the gap is very large. The key ideas are an iterative simulator-in-the-design-loop in which real-world experiments, simulator modifications, and simulated experiments are intimately coupled in a way that minds the gap without needing to shrink it, as well as the use of minimally viable phase diagrams to guide real world experiments. We demonstrate the usefulness of our methods on deploying a real multi-robot swarm system to successfully exhibit an emergent milling behavior.
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。
