Mixed Reality Environment and High-Dimensional Continuification Control for Swarm Robotics
arxiv(2023)
摘要
Many new methodologies for the control of large-scale multi-agent systems are
based on macroscopic representations of the emerging systemdynamics, in the
form of continuum approximations of large ensembles. These techniques, that are
typically developed in the limit case of an infinite number of agents, are
usually validated only through numerical simulations. In this paper, we
introduce a mixed reality set-up for testing swarm robotics techniques,
focusing on the macroscopic collective motion of robotic swarms. This hybrid
apparatus combines both real differential drive robots and virtual agents to
create a heterogeneous swarm of tunable size. We also extend
continuification-based control methods for swarms to higher dimensions, and
assess experimentally their validity in the new platform. Our study
demonstrates the effectiveness of the platform for conducting large-scale swarm
robotics experiments, and it contributes new theoretical insights into control
algorithms exploiting continuification approaches.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要