大型畜群的多机器人隐式控制

Q2 Mathematics 机器人 Pub Date : 2022-09-20 DOI:10.48550/arXiv.2209.09705
Eduardo Sebastián, E. Montijano, C. Sagüés
{"title":"大型畜群的多机器人隐式控制","authors":"Eduardo Sebastián, E. Montijano, C. Sagüés","doi":"10.48550/arXiv.2209.09705","DOIUrl":null,"url":null,"abstract":"This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly complex repulsive evaders' dynamics and the underdetermined states to control. We propose a solution that is based on Implicit Control and a novel dynamic assignment strategy to select the evaders to be directly controlled. The former is a general technique that explicitly computes control inputs even in highly complex input-nonaffine dynamics. The latter is built upon a convex-hull dynamic clustering inspired by the Voronoi tessellation problem. The combination of both allows to choose the best evaders to directly control, while the others are indirectly controlled by exploiting the repulsive interactions among them. Simulations show that massive herds can be herd throughout complex patterns by means of a few herders.","PeriodicalId":39370,"journal":{"name":"机器人","volume":"1 1","pages":"448-459"},"PeriodicalIF":0.0000,"publicationDate":"2022-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Multi-robot Implicit Control of Massive Herds\",\"authors\":\"Eduardo Sebastián, E. Montijano, C. Sagüés\",\"doi\":\"10.48550/arXiv.2209.09705\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly complex repulsive evaders' dynamics and the underdetermined states to control. We propose a solution that is based on Implicit Control and a novel dynamic assignment strategy to select the evaders to be directly controlled. The former is a general technique that explicitly computes control inputs even in highly complex input-nonaffine dynamics. The latter is built upon a convex-hull dynamic clustering inspired by the Voronoi tessellation problem. The combination of both allows to choose the best evaders to directly control, while the others are indirectly controlled by exploiting the repulsive interactions among them. Simulations show that massive herds can be herd throughout complex patterns by means of a few herders.\",\"PeriodicalId\":39370,\"journal\":{\"name\":\"机器人\",\"volume\":\"1 1\",\"pages\":\"448-459\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-09-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"机器人\",\"FirstCategoryId\":\"1093\",\"ListUrlMain\":\"https://doi.org/10.48550/arXiv.2209.09705\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"Mathematics\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"机器人","FirstCategoryId":"1093","ListUrlMain":"https://doi.org/10.48550/arXiv.2209.09705","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Mathematics","Score":null,"Total":0}
引用次数: 0

摘要

本文通过几个机器人解决了驱赶无数躲避者的问题。目标是引导所有躲避者朝着所需的跟踪基准前进,同时避免逃跑。由于具有高度复杂的排斥逃避动力学和需要控制的欠定状态,该问题非常具有挑战性。我们提出了一种基于隐式控制的解决方案和一种新的动态分配策略来选择要直接控制的逃避者。前者是一种通用技术,即使在高度复杂的输入非仿射动力学中也能显式计算控制输入。后者建立在受Voronoi镶嵌问题启发的凸包动态聚类之上。两者的结合允许选择最好的躲避者来直接控制,而其他躲避者则通过利用它们之间的排斥相互作用来间接控制。模拟表明,通过几个牧民,可以在复杂的模式下放牧大量的牛群。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Multi-robot Implicit Control of Massive Herds
This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly complex repulsive evaders' dynamics and the underdetermined states to control. We propose a solution that is based on Implicit Control and a novel dynamic assignment strategy to select the evaders to be directly controlled. The former is a general technique that explicitly computes control inputs even in highly complex input-nonaffine dynamics. The latter is built upon a convex-hull dynamic clustering inspired by the Voronoi tessellation problem. The combination of both allows to choose the best evaders to directly control, while the others are indirectly controlled by exploiting the repulsive interactions among them. Simulations show that massive herds can be herd throughout complex patterns by means of a few herders.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
机器人
机器人 Mathematics-Applied Mathematics
CiteScore
3.60
自引率
0.00%
发文量
4266
期刊介绍:
期刊最新文献
Multi-robot Implicit Control of Massive Herds YASMIN: Yet Another State MachINe Actualidad de los cementos reparadores endodónticos: MTA y biodentine Manejo ortodóncico-periodontal de recesión gingival Potencial cariogénico de los alimentos en las loncheras y su influencia en la salud bucal de niños preescolares
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1