モジュール型飛行ロボットシステムの耐故障制御に向けたロバストな自己再構成
Robust Self-Reconfiguration for Fault-Tolerant Control of Modular Aerial Robot Systems
複数のドローンが組み合わさるモジュール型飛行ロボットにおいて、故障時に中間構造の制御性を最大化する分解・組立順序を計算し、安定飛行を維持する自己再構成アルゴリズムを提案した。
著者: Rui Huang, Siyu Tang, Zhiqian Cai, Lin Zhao
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit failures and maintain stable flight. However, existing works on MARS self-reconfiguration often overlook the practical controllability of intermediate structures formed during the reassembly process, which limits their applicability. In this paper, we address this gap by considering the control-constrained dynamic model of MARS and proposing a robust and efficient self-reconstruction algorithm that maximizes the controllability margin at each intermediate stage. Specifically, we develop algorithms to compute optimal, controllable disassembly and assembly sequences, enabling robust self-reconfiguration. Finally, we validate our method in several challenging fault-tolerant self-reconfiguration scenarios, demonstrating significant improvements in both controllability and trajectory tracking while reducing the number of assembly steps. The videos and source code of this work are available at https://github.com/RuiHuangNUS/MARS-Reconfig/
