A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots) are interconnected by springs and dampers. A time-varying domain is defined by the positions of leaders while the external forces induce deformations of the domain from its nominal configuration. The team of followers is performing coverage over the time-varying domain by employing a perspective transformation that maps between the nominal and deformed configurations. A decentralized control strategy is proposed where a leader only takes local sensing information and information about its neighbors (connected by virtual springs and dampers), and a follower only needs partial information about leaders and information about its Delaunay neighbors.
翻译:提出一个领导-追随者框架,用于大型团队的多机器人导航,领导代理人在其中对追随者进行校正。一组领导者以2D变形物体为模型,使离散群众(即领先机器人)与弹簧和弹簧相连接。一个时间变化域由领导者的立场确定,外部力量从名义结构中诱发域变形。追随者小组正在利用名义组合和畸形组合之间图示的视角变换,在时间变换领域进行覆盖。提出一个分散控制战略,即领导者只获取当地遥感信息和关于邻国的信息(由虚拟弹簧和弹簧相连接),而追随者只需要部分关于领导人的信息和关于其德劳纳伊邻国的信息。