论文标题
灵活群体控制的Ergodic规范：从用户命令到持续适应
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
论文作者
论文摘要
本文介绍了用于群体控制和高级任务计划的公式，该计划对用户命令动态响应，并适应环境变化。我们设计了一条从触觉平板电脑接口的端到端管道，用于用户命令，以基于分散的Ergodic覆盖范围的机器人控制机器人控制。我们的方法通过使用Ergodic规范来规划和执行代理轨迹以及对用户和外部输入的响应来证明对群集的可靠和动态控制。我们在虚拟现实模拟环境中验证了我们的方法，并在DARPA偏移城市群挑战FX3现场测试的现实世界实验中验证了我们的方法，基于机器人群，基于用户的基于用户的群和基于任务的任务的控制需要动态且灵活的响应，以实时对改变条件和目标。
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for user commands to onboard control of robotic agents based on decentralized ergodic coverage. Our approach demonstrates reliable and dynamic control of a swarm collective through the use of ergodic specifications for planning and executing agent trajectories as well as responding to user and external inputs. We validate our approach in a virtual reality simulation environment and in real-world experiments at the DARPA OFFSET Urban Swarm Challenge FX3 field tests with a robotic swarm where user-based control of the swarm and mission-based tasks require a dynamic and flexible response to changing conditions and objectives in real-time.
