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首页> 外文学位 >Coordination of multirobot teams and groups in constrained environments: Models, abstractions, and control policies.
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Coordination of multirobot teams and groups in constrained environments: Models, abstractions, and control policies.

机译：受限环境中的多机器人团队和团队的协调：模型，抽象和控制策略。

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摘要

Robots can augment and even replace humans in dangerous environments, such as search and rescue and reconnaissance missions, yet robots used in these situations are largely tele--operated. In most cases, the robots' performance depends on the operator's ability to control and coordinate the robots, resulting in increased response time and poor situational awareness, and hindering multirobot cooperation.;Many factors impede extended autonomy in these situations, including the unique nature of individual tasks, the number of robots needed, the complexity of coordinating heterogeneous robot teams, and the need to operate safely. These factors can be partly addressed by having many inexpensive robots and by control policies that provide guarantees on convergence and safety.;In this thesis, we address the problem of synthesizing control policies for navigating teams of robots in constrained environments while providing guarantees on convergence and safety. The approach is as follows. We first model the configuration space of the group (a space in which the robots cannot violate the constraints) as a set of polytopes. For a group with a common goal configuration, we reduce complexity by constructing a configuration space for an abstracted group state. We then construct a discrete representation of the configuration space, on which we search for a path to the goal. Based on this path, we synthesize feedback controllers, decentralized affine controllers for kinematic systems and nonlinear feedback controllers for dynamical systems, on the polytopes, sequentially composing controllers to drive the system to the goal. We demonstrate the use of this method in urban environments and on groups of dynamical systems such as quadrotors.;We reduce the complexity of multirobot coordination by using an informed graph search to simultaneously build the configuration space and find a path in its discrete representation to the goal. Furthermore, by using an abstraction on groups of robots we dissociate complexity from the number of robots in the group. Although the controllers are designed for navigation in known environments, they are indeed more versatile, as we demonstrate in a concluding simulation of six robots in a partially unknown environment with evolving communication links, object manipulation, and stigmergic interactions.
机译：机器人可以在危险环境中（甚至在搜索和救援以及侦察任务中）增援甚至替代人类，但是在这种情况下使用的机器人大部分是远程操作的。在大多数情况下，机器人的性能取决于操作员控制和协调机器人的能力，从而导致响应时间增加，态势感知能力差以及阻碍多机器人协作。许多因素阻碍了这种情况下自治的扩展，包括机器人的独特性。单个任务，所需的机器人数量，协调异构机器人团队的复杂性以及安全操作的需求。这些因素可以通过使用许多廉价的机器人并通过提供保证收敛性和安全性的控制策略来部分解决。;本文旨在解决在受限环境中导航机器人团队时综合控制策略的问题，同时提供收敛性和安全性的保证。安全。该方法如下。我们首先将组的配置空间（机器人不能违反约束的空间）建模为一组多面体。对于具有共同目标配置的组，我们通过为抽象的组状态构造配置空间来降低复杂性。然后，我们构造配置空间的离散表示形式，并在该表示形式上搜索达到目标的路径。基于此路径，我们在多面上合成了反馈控制器，运动系统的分散仿射控制器和动力学系统的非线性反馈控制器，依次组成控制器以驱动系统达到目标。我们演示了这种方法在城市环境中以及在诸如四旋翼之类的动力系统组上的使用;我们通过使用知情的图搜索同时构建配置空间并在其离散表示中找到一条路径来降低多机器人协调的复杂性。目标。此外，通过在机器人组上使用抽象，我们可以将复杂性与组中机器人的数量分离。尽管这些控制器是为在已知环境中导航而设计的，但是它们确实具有更多的用途，正如我们在部分未知的环境中对六台机器人的最终仿真所展示的那样，它们具有不断发展的通信链接，对象操纵和侮辱性的交互作用。

著录项

  • 作者

    Ayanian, Nora.;

  • 作者单位

    University of Pennsylvania.;

  • 授予单位 University of Pennsylvania.;
  • 学科 Engineering Mechanical.;Engineering Robotics.
  • 学位 Ph.D.
  • 年度 2011
  • 页码 186 p.
  • 总页数 186
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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