AI 中文总结
针对受感知范围约束的异构多机器人系统，该研究提出基于单控制障碍函数约束的二次优化框架，设计分布式控制器实现编队跟踪与刚性保持，仿真验证了其有效性。
AI 中文摘要
本文提出了一种用于异构多机器人系统的编队跟踪与刚性保持的控制框架，该系统具有非线性动力学且受感知范围约束。由于仅编队跟踪无法在有限感知范围内确保刚性保持，而刚性是建立和维持唯一编队的前提，因此本研究在二次优化框架内通过一个类单控制障碍函数（CBF）约束整合了这两个目标。所提出的分布式控制器仅需来自邻居的局部相对信息，这一点已通过仿真案例研究得到验证。
英文摘要
This paper presents a control framework for formation tracking and rigidity maintenance in heterogeneous multi-robot systems with nonlinear dynamics under sensing range constraints. Since formation tracking alone does not ensure rigidity maintenance with a limited sensing range, despite rigidity being a prerequisite for establishing and preserving a unique formation, our work integrates both objectives through a single Control Barrier Function (CBF)-like constraint within a quadratic optimization framework. The proposed distributed controller requires only local relative information from neighbors, as verified with simulation case studies.
Comments12 pages, 2 figures
