单旋翼机器人 Scratch 团队与机器人故障下的去中心化协同运输
Scratch Team of Single-Rotor Robots and Decentralized Cooperative Transportation with Robot Failure
AI总结：
本文提出一种面向多单旋翼机器人的去中心化协同运输控制器，通过反馈与非线性控制器并联结构，实现对载荷形状、质量与质心波动及机器人故障的鲁棒性，并通过仿真和三类机器人团队实验验证了异构机器人协同运输的有效性。
摘要：
利用空中机器人团队实现协同运输，可以确保对有效载荷的灵活性以及对故障的鲁棒性，近年来引起了广泛关注。本研究针对使用多个单旋翼机器人的协同运输任务，提出了一种面向机器人和载荷形状的灵活去中心化控制器。所提出的控制器对质量与质心（COM）波动以及机器人故障具有鲁棒性。此外，它对动力学误差具有渐近稳定性。该控制器还支持异构单旋翼机器人。因此，不同规格和性能退化的机器人可以被有效用于协同运输。这一性能对机器人再利用尤其有效。为实现上述性能，该控制器由两个控制器并联组成：一个反馈控制器，使系统严格正实；一个非线性控制器，使物体渐近趋近目标。首先，我们通过数值仿真确认了使用 8 台和 10 台机器人对两种形状进行协同运输。随后，使用由三种类型机器人组成的机器人团队，演示了矩形载荷（重量约 3 kg，最大长度 1.6 m）的协同运输，即使在机器人故障和质心波动的情况下也能完成。
英文摘要：
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized controller for robots and the shapes of payloads in a cooperative transport task using multiple single-rotor robots. The proposed controller is robust to mass and center of mass (COM) fluctuations and robot failures. Moreover, it possesses asymptotic stability against dynamics errors. Additionally, the controller supports heterogeneous single-rotor robots. Thus, robots with different specifications and deterioration may be effectively utilized for cooperative transportation. This performance is particularly effective for robot reuse. To achieve the aforementioned performance, the controller consists of a parallel structure comprising two controllers: a feedback controller, which renders the system strictly positive real, and a nonlinear controller, which renders the object asymptotic to the target. First, we confirm cooperative transportation using 8 and 10 robots for two shapes through numerical simulation. Subsequently, the cooperative transportation of a rectangle payload (with a weight of approximately 3 kg and maximum length of 1.6 m) is demonstrated using a robot team consisting of three types of robots, even under robot failure and fluctuation in the COM.
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。
