论文标题
多机器人对牛群的隐式控制
Multi-robot Implicit Control of Herds
论文作者
论文摘要
本文提出了一种新颖的控制策略，通过一组机器人牧民团队来饲养一群非合作逃避者。在放牧问题中，逃避者的运动通常取决于强烈的非线性反应动力学，从牧民逃脱。许多应用要求放牧众多和/或异质实体，从而开发灵活的控制解决方案。在这种情况下，我们的主要贡献是一种控制方法，即使逃避者的非线性屈服于隐式方程，也可以找到合适的放牧动作。我们求助于数值分析理论，以表征此类动作的存在条件，并提出了两种设计方法来计算它们，一个将连续的时间隐式系统转换为扩展的显式系统，另一个将数值方法应用于离散时间。在不同情况下，模拟和实验实验验证了该建议。
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics, escaping from the herders. Many applications demand the herding of numerous and/or heterogeneous entities, making the development of flexible control solutions challenging. In this context, our main contribution is a control approach that finds suitable herding actions even when the nonlinearities in the evaders' dynamics yield to implicit equations. We resort to numerical analysis theory to characterise the existence conditions of such actions and propose two design methods to compute them, one transforming the continuous time implicit system into an expanded explicit system, and the other applying a numerical method to find the action in discrete time. Simulations and real experiments validate the proposal in different scenarios.
