论文标题
一群简单的机器人建造平面形状
A Swarm of Simple Robots Constructing Planar Shapes
论文作者
论文摘要
我们提出了先前提出的算法的新版本，使一群机器人能够从飞机中的对象构建所需的形状。我们还描述了该系统的硬件实现，该硬件实现了简单且易于采购的组件。我们将任务称为平面构造，这是将环境对象聚集成某种所需形状的。例如，一群机器人可以使用该算法将废料收集到一堆中，而且可以将其堆成一条线，以便于收集。形状由称为标量场的图像指定。标量场与模板信息素起着类似的作用，该信息素指导复杂的自然结构（例如白蚁丘）的构建。除了描述算法和硬件平台外，我们还使用自定义仿真环境开发了一些性能见解，并在物理机器人上呈现实验结果。
We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily sourced components. We refer to the task as planar construction which is the gathering of ambient objects into some desired shape. As an example application, a swarm of robots could use this algorithm to not only gather waste material into a pile, but shape that pile into a line for easy collection. The shape is specified by an image known as the scalar field. The scalar field serves an analogous role to the template pheromones that guide the construction of complex natural structures such as termite mounds. In addition to describing the algorithm and hardware platform, we develop some performance insights using a custom simulation environment and present experimental results on physical robots.
