オンボード物理有限状態機械を備えた大規模マイクロロボット群のグループベース制御
Group-based control of large-scale micro-robot swarms with on-board Physical Finite-State Machines
オンボードの物理有限状態機械を持つマイクロロボット群を、グループ単位の制御信号で効率的に操作する手法を提案し、局所可到達性の証明と大規模シミュレーションによる検証を行った。
著者: Siyu Li, Milos Zefran, Igor Paprotny
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStressBots with on-board physical finite-state machines. We introduce the concept of group-based control, which makes it possible to scale up the swarm size while reducing the complexity both of robot fabrication as well as swarm control. We prove that the group-based control system is locally accessible in terms of the robot positions. We further hypothesize based on extensive simulations that the system is globally controllable. A nonlinear optimization strategy is proposed to control the swarm by minimizing control effort. We also propose a probabilistically complete collision avoidance method that is suitable for online use. The paper concludes with an evaluation of the proposed methods in simulations.
