发表机构
KTH Royal Institute of Technology（皇家理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对开放多机器人系统的编队控制，提出基于障碍-李雅普诺夫函数的分布式控制器与编队管理器，实现避碰、保连通及动态重构，并通过切换系统稳定性分析和Gazebo仿真验证。
AI 中文摘要
我们研究了开放多机器人系统（OMRS）的编队控制问题，即机器人在运行过程中可能加入或离开团队，并随时间建立新的交互链接，同时需满足机器人间避碰和连通性维持约束。机器人由双积分器建模，并在动态无向图上进行交互。我们设计了一种基于障碍-李雅普诺夫函数梯度的分布式控制器。为实现团队重构，我们引入了一个编队管理器，用于协调机器人的添加和移除，并在需要时建立预期边，无论是为了将加入的机器人连接到团队，还是在机器人离开前保持连通性。预期边的距离上限约束通过辅助动力学暂时放宽，该辅助动力学在逐步恢复标称交互范围的同时保持可行性。由此产生的开放团队动力学被建模为切换系统，我们为其在转移依赖的平均驻留时间条件下，对几乎所有初始状态建立了均匀实际稳定性。最后，所提方法在真实的Gazebo仿真中得到了验证，仿真中动态模拟的四旋翼机器人经历了重复的加入和离开操作。
英文摘要
We address the formation control problem for open multi-robot systems (OMRS), i.e., systems in which robots may join or leave the team during operation and new interaction links are established over time, subject to inter-robot collision-avoidance and connectivity-maintenance constraints. The robots are modeled by double integrators, and interact over a dynamic undirected graph. We design a distributed controller based on the gradient of a barrier-Lyapunov function. To enable team reconfiguration, we introduce a formation manager that coordinates robot additions and removals and establishes prospective edges whenever needed, either to connect a joining robot to the team or to preserve connectivity before a robot departs. The upper-distance constraints of prospective edges are temporarily relaxed through auxiliary dynamics that preserve feasibility while progressively recovering the nominal interaction range. The resulting open-team dynamics are modeled as a switched system, for which we establish uniform practical stability for almost all initial conditions under a transition-dependent average dwell-time condition. Finally, the proposed approach is validated in realistic Gazebo simulations with dynamically simulated quadrotors undergoing repeated joining and departure maneuvers.
