发表机构
Indian Institute of Science（印度科学研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究在有限感知下获取刚性通信图的问题，提出基于分布式二次优化的方法，为异构非线性多机器人系统开发计算精简的控制器，通过仿真和硬件实验验证，能在有限传感下实现刚性通信图且跟随代理无需全局绝对位置。
AI 中文摘要
通信图刚性是许多多机器人编队控制方法的基本要求。然而，由于传感范围有限和动态运行条件，在实践中确保和维持刚性通信拓扑具有挑战性。本文提供了一种方法，用于实现机器人间无碰撞、刚性时变通信图，通信链路根据有限传感范围建立或断开，无需初始刚性图。此外，该方法保证了异构非线性多机器人系统刚性图的实现。针对主从架构开发了一种基于分布式二次优化的计算精简控制器，基于机器人间的分层二阶一致性获取刚性。跟随代理不需要任何代理（包括自身）的全局绝对位置。通过在运动捕捉环境中的仿真和硬件实验验证了该方法，证明了在单个机器人有限传感能力下的可靠性能。
英文摘要
Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph, where communication links are established or broken according to limited sensing ranges, without assuming an initial rigid graph. In addition, the proposed approach guarantees the realization of a rigid graph for heterogeneous nonlinear multi robot systems. A computationally lean, distributed quadratic optimization-based controller is developed for a leader follower architecture, acquiring rigidity based on hierarchical second-order consensus among robots. Follower agents do not require global absolute positions of any agent, including their own. The proposed method is validated through both simulations and hardware experiments in a motion-capture environment, demonstrating reliable performance under the limited sensing capabilities of individual robots.
Comments18 pages, 7 Figures, 2 Tables
