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首页> 外文期刊>The International journal of robotics research >Decentralized rigidity maintenance control with range measurements for multi-robot systems
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Decentralized rigidity maintenance control with range measurements for multi-robot systems

机译：多机器人系统的分散式刚度维护控制和范围测量

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摘要

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first contribution of this work is an extension of rigidity theory to weighted frameworks and the rigidity eigenvalue, which when positive ensures the infinitesimal rigidity of the framework. We then propose a distributed algorithm for estimating a common relative position reference frame amongst a team of robots with only range measurements in addition to one agent endowed with the capability of measuring the bearing to two other agents. This first estimation step is embedded into a subsequent distributed algorithm for estimating the rigidity eigenvalue associated with the weighted framework. The estimate of the rigidity eigenvalue is finally used to generate a local control action for each agent that both maintains the rigidity property and enforces additional constraints such as collision avoidance and sensing/communication range limits and occlusions. As an additional feature of our approach, the communication and sensing links among the robots are also left free to change over time while preserving rigidity of the whole framework. The proposed scheme is then experimentally validated with a robotic testbed consisting of six quadrotor unmanned aerial vehicles operating in a cluttered environment.
机译：这项工作提出了一种完全分散的策略，以仅使用范围测量值来保持多机器人系统的编队刚度，同时仍然允许图形拓扑随时间自由变化。在这个方向上，这项工作的第一个贡献是将刚性理论扩展到加权框架和刚性特征值，当其为正值时，将确保框架的无限小刚性。然后，我们提出了一种分布式算法，用于估算一组机器人之间的公共相对位置参考系，这些机器人除了具有一个特长之外，还具有范围测量功能，而该特长具有测量对另外两个特工的方位的能力。该第一估计步骤被嵌入到随后的分布式算法中，用于估计与加权框架相关联的刚性特征值。刚度特征值的估计最终用于为每个代理生成局部控制动作，该动作既保持刚度属性又强制执行其他约束，例如避免碰撞以及感知/通信范围限制和遮挡。作为我们方法的附加功能，机器人之间的通信和传感链接也可以随时间自由变化，同时保持整个框架的刚性。然后，该提议的方案将通过由六台在混乱环境中运行的四旋翼无人飞行器组成的机器人试验台进行实验验证。

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