面向群体机器人的混合现实环境与高维连续化控制
Mixed Reality Environment and High-Dimensional Continuification Control for Swarm Robotics
AI总结：
该研究提出结合真实与虚拟智能体的混合现实群体机器人实验平台，并将连续化控制方法拓展至高维，经实验验证了平台有效性与算法理论价值。
摘要：
大规模多智能体系统的诸多新型控制方法均以涌现系统动力学的宏观表征为基础，即大集群的连续近似形式。这些技术是在智能体数量趋于无穷的极限情形下开发的，通常仅通过数值模拟进行验证。本文提出一种用于测试群体机器人技术的混合现实实验装置，重点关注机器人群体的宏观集体运动。该混合设备将真实差分驱动机器人与虚拟智能体相结合，构建出规模可调的异质群体。我们还将基于连续化的群体控制方法拓展至高维场景，并在新平台上通过实验评估了其有效性。本研究证明了该平台用于开展大规模群体机器人实验的可行性，同时为利用连续化方法的控制算法提供了新的理论见解。
英文摘要：
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are developed in the limit case of an infinite number of agents, are usually validated only through numerical simulations. In this paper, we introduce a mixed reality set-up for testing swarm robotics techniques, focusing on the macroscopic collective motion of robotic swarms. This hybrid apparatus combines both real differential drive robots and virtual agents to create a heterogeneous swarm of tunable size. We also extend continuification-based control methods for swarms to higher dimensions, and assess experimentally their validity in the new platform. Our study demonstrates the effectiveness of the platform for conducting large-scale swarm robotics experiments, and it contributes new theoretical insights into control algorithms exploiting continuification approaches.
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。
