基于应急模型的控制（CMC）用于机器人群通信less的协作避障
Contingency Model-based Control (CMC) for Communicationless Cooperative Collision Avoidance in Robot Swarms
AI总结：
本文提出了一种无需通信的分布式协作避障方法CMC，通过预先设计的共识规则和应急轨迹确保机器人群在受限环境中的安全运行。
摘要：
在机器人群操作中，机器人之间的协作避障仍是一个开放性挑战。假设采用分布式架构，每个机器人负责自己做出决策并选择控制动作。大多数现有方法依赖于机器人之间的（无线）通信网络。然而，实际上通信是脆弱的。它可能受到延迟、进一步延迟和数据包丢失以及传输故障的影响。此外，它还可能受到对抗性攻击的影响，例如干扰或欺骗。本文提出了基于应急模型的控制（CMC），一种不依赖通信的分布式协作方法。相反，控制算法基于共识规则，这些规则是为所有机器人预先设计的，类似于交通规则。对于CMC，这包括为每个机器人定义一条应急轨迹，以及作为避障约束的垂直平分面。该设置允许在闭环操作中对递归可行性以及所有群成员之间的避障提供完整保证。CMC自然满足即插即用范式，即新机器人可以动态地加入群组。CMC的有效性在两个数值示例中得到展示，显示避障保证保持不变，机器人群在受限环境中运行平稳。
英文摘要：
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most existing approaches rely on a (wireless) communication network between (some of) the agents. In reality, however, communication is brittle. It may be affected by latency, further delays and packet losses, and transmission faults. Moreover, it is subject to adversarial attacks, such as jamming or spoofing. This paper proposes Contingency Model-based Control (CMC), a decentralized cooperative approach that does not rely on communication. Instead, the control algorithm is based on consensual rules that are designed for all agents offline, similar to traffic rules. For CMC, this includes the definition of a contingency trajectory for each robot, and perpendicular bisecting planes as collision avoidance constraints. The setup permits a full guarantee of recursive feasibility and collision avoidance between all swarm members in closed-loop operation. CMC naturally satisfies the plug & play paradigm, i.e., new robots may enter the swarm dynamically. The effectiveness of the CMC regime is demonstrated in two numerical examples, showing that the collision avoidance guarantee is intact and the robot swarm operates smoothly in a constrained environment.
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