无智能体间通信的分布式集群控制自主机器人架桥
Autonomous robotic bridging using distributed swarm control without inter-agent communication
Vishwaak C. Thamaraiselvan, Cody L. Lundberg, Michail Theofandis, Suhas Chelian, Nicholas R. Gans
AI 速读 基于摘要
提出SCARAB系统，用分布式集群控制与多模态感知让无人水面艇在无GPS、无射频通信下自主定位、编队并前往目标点，以物理引擎仿真演示架桥概念。
cs.RO
查看原文摘要
We describe SCARAB--Swarm-Capable Autonomous Robotic Aquatic Bridging. Using distributed swarm control and multi-model sensing of agents and docking targets, agents can localize themselves, join into formations and proceed to desired target locations. Our technologies would eventually allow the Army to perform unpredictable, dispersed river crossings, enhance crew survivability, and minimize the logistics footprint compared to the current Improved Ribbon Bridge. Our methods operate without GPS or RF communications, though these can be used in non-contested environments (e.g., civilian disaster relief for flooding, etc.). We demonstrate our system via physics-engine-based simulation of several agents using unmanned surface vehicles (USVs) in the presence of currents and wind.