異種ロボット群の物理結合のための構成制御
Configuration Control for Physical Coupling of Heterogeneous Robot Swarms
受動的結合機構で物理的に連結・分離できる異種ロボット群を開発し、環境に応じた構造を形成する接続ペア指向の構成制御アルゴリズムを提案した。最大9台での結合・隙間横断・分離実験を実証した。
著者: Sha Yi, Zeynep Temel, Katia Sycara
分類: cs.RO
原文アブストラクト
In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a passive coupling mechanism, ensuring minimum energy consumption during coupling and decoupling behavior. The heterogeneity of the system enables the robots to perform structural enhancement configurations based on specific environmental requirements. We propose a connection-pair oriented configuration control algorithm to form different assemblies. We show experiments of up to nine robots performing the coupling, gap-crossing, and decoupling behaviors.
