MARS-FTCP：模块化空中机器人系统的鲁棒容错控制与敏捷轨迹规划
MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems
AI总结：
本文针对模块化空中机器人系统在对接分离时的振荡问题，提出一种适用于任意构型的容错控制重分配方法和敏捷避碰轨迹规划方法，首次实现MARS的容错避碰飞行，并通过仿真验证了其有效性。
摘要：
模块化空中机器人系统（MARS）由多个无人机单元组成，能够自重构以适应各种任务需求和故障条件。然而，现有的容错控制方法在对接与分离过程中表现出显著的振荡，影响系统稳定性。为解决这一问题，我们提出了一种新颖的容错控制重分配方法，可适应任意数量的模块化机器人及其装配构型。该算法根据各单元相对于MARS质心的力臂，将MARS所需的期望集体力与力矩重新分配给各个单元。此外，我们提出了一种适用于任意构型MARS的敏捷轨迹规划方法，该方法具有避碰能力且满足动力学可行性。我们的工作代表了首个使MARS具备容错与避碰飞行能力的综合性方法。我们通过大量仿真验证了该方法，结果表明其具有更好的容错性能、更高的轨迹跟踪精度以及在杂乱环境中更强的鲁棒性。本工作的视频和源代码可在 https://github.com/RuiHuangNUS/MARS-FTCP/ 获取。
英文摘要：
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations during docking and separation, impacting system stability. To address this issue, we propose a novel fault-tolerant control reallocation method that adapts to an arbitrary number of modular robots and their assembly formations. The algorithm redistributes the expected collective force and torque required for MARS to individual units according to their moment arm relative to the center of MARS mass. Furthermore, we propose an agile trajectory planning method for MARS of arbitrary configurations, which is collision-avoiding and dynamically feasible. Our work represents the first comprehensive approach to enable fault-tolerant and collision avoidance flight for MARS. We validate our method through extensive simulations, demonstrating improved fault tolerance, enhanced trajectory tracking accuracy, and greater robustness in cluttered environments. The videos and source code of this work are available at https://github.com/RuiHuangNUS/MARS-FTCP/
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。
