论文标题
使用空中机器人团队折叠结
Folding Knots Using a Team of Aerial Robots
论文作者
论文摘要
从远古时代开始，人类一直在使用电缆和绳索来绑扎，携带和操纵物体。但是，自动结折叠是具有挑战性的，因为它需要敏捷性将电缆移到自身下和下方。在本文中，我们提出了一种使用飞机队在空中折叠结的方法。我们利用了一个事实，即车辆能够在电缆段之间飞行而无需重新磨损。因此，团队将电缆从地板上抓住，并在结折后将其释放。基于链式曲线的组成，我们简化了处理电缆的无限尺寸构型空间的复杂性，并正式提出了新的结表示。这种表示使我们可以设计一种可以使用领导者追随者方法来折叠结的轨迹。我们表明我们的方法适用于模拟中的不同类型的结。此外，我们表明我们的解决方案也具有计算上的有效效率，并且可以实时执行。
From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cable segments without any re-grasping. So the team grasps the cable from the floor, and releases it once the knot is folded. Based on a composition of catenary curves, we simplify the complexity of dealing with an infinite-dimensional configuration space of the cable, and formally propose a new knot representation. Such representation allows us to design a trajectory that can be used to fold knots using a leader-follower approach. We show that our method works for different types of knots in simulations. Additionally, we show that our solution is also computationally efficient and can be executed in real-time.
