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第35行： − 集群机器人学是研究将多个机器人协调为一个系统的方法，该系统由大量的简单物理机器人组成。该方法假定，在机器人之间以及机器人与环境之间的相互作用中，会产生一种预期的集体行为。该方法在人工群体智能领域，以及对昆虫，蚂蚁和其他自然界中发生群体行为的生物学研究领域中有所运用。+ − + 第44行：
第44行： − 集群机器人学主要是对其设计，物理构造以及行为控制进行研究。它受到在群居昆虫（社会性昆虫）中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智慧。相对简单的个体规则会产生大量复杂的群体行为。关键组成部分是建立持续反馈系统，由小组成员之间的沟通组成。群体行为涉及到个体间因合作而产生的不断变化，以及总体的行为变化。+ − 第52行：
第51行： − 与一般的分布式机器人系统不同，群体机器人技术强调需要大量的机器人并提高可扩展性，例如仅使用本地通信。该本地通信可以是通过无线传输系统来实现的，例如射频或红外。+ − + 第62行：
第61行： − 小型化和成本是集群机器人技术的关键因素。这些是构建大型机器人群体的限制；因此，应该强调单个团队成员的简单性。因此，应该激发一种基于群体智慧的方法，以在群体级别而非个人级别上实现有意义的行为。针对单个机器人级别简单性这一目标已经进行了大量研究，如果能够在集群机器人技术研究中使用实际硬件而不是在仿真中使用，可以使研究人员遇到并解决更多的问题，并扩大集群研究的范围。因此，开发用于集群智能研究的简单机器人是该领域非常重要的方面。目标包括使单个机器人的成本保持较低以实现可扩展性，从而使集群中的每个成员对资源的需求更少，并提高功率/能源效率。+ − 与单个机器人相比，集群机器人通常可以将其给定的任务分解为子任务；对于部分机器人指令失效的情况，集群机器人更加稳定，并且在执行不同任务时更为灵活。+ − 第78行：
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第82行： − 集群机器人技术的潜在应用很多。它们包括具有微型化需求的任务（纳米机器人，微生物学），比如微型机械或人体中的分布式传感任务。集群机器人技术最有前途的应用之一是在灾难救援任务中，大量不同尺寸的机器人可以被送到救援人员无法安全到达的地方，通过红外传感器探测生命的存在。另一方面，集群机器人技术可以适用于需要廉价设计的任务，例如采矿或农业采掘任务。+ 第94行：
第90行： − 更多争议的是，军事集群机器人可以组成一支自主部队。美国海军已经对一大批可以自行操纵并采取进攻行动的自主舰艇进行了测试。这些船是无人驾驶的，可以安装任何种类的工具来威慑和摧毁敌方船只。+ 第102行：
第98行： − 在叙利亚内战期间，该地区的俄罗斯部队报告说，该国主要空军基地遭到装有炸药的固定翼无人机群袭击。+ − − 第111行：
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第110行： − 使用微型飞行器集群还可以解决其他大型组件应用，这在当今也得到了广泛的研究。比如说，在实验室条件下，相比较于使用精密运动捕捉系统对飞行机器集群进行开创性研究，当前的系统（例如射星系统），则可以使用GNSS全球导航卫星系统（例如GPS全球定位系统）在室外环境中控制数百辆微型飞机的集群，甚至可以使用GPS无法做到的机载定位系统来稳定它们。成群的微型飞行器已经可以在密集方阵中进行自主监视、羽流跟踪以及侦察任务中进行测试。在协同无人驾驶地面和空中飞行器集群的大量工作中，已经涉及应用包括了：协同环境监测、即时定位与制图、车队保护、运动目标定位以及跟踪。。+ − + 第129行：
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第129行： − 迪士尼电影《超能陆战队》中有一个情节涉及使用成群的微型机器人来构建场景。+ 第146行：
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无编辑摘要
Swarm robotics is an approach to the coordination of multiple robots as a system which consist of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment. This approach emerged on the field of artificial swarm intelligence, as well as the biological studies of insects, ants and other fields in nature, where swarm behaviour occurs.
Swarm robotics is an approach to the coordination of multiple robots as a system which consist of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment. This approach emerged on the field of artificial swarm intelligence, as well as the biological studies of insects, ants and other fields in nature, where swarm behaviour occurs.
集群机器人技术是将多个机器人协调为一个系统的方法，该系统由大量的大多数简单物理机器人组成。该方法假定，在机器人之间的相互作用以及机器人与环境的相互作用中，会产生一种预期的集体行为。这种方法应用于人工群体智能领域，以及对昆虫，蚂蚁和其他自然界中发生群体行为的生物学研究领域中。
==Definition==
== Definition 定义 ==
The research of swarm [[robotics]] is to study the design of robots, their physical body and their controlling [[behaviour]]s. It is inspired but not limited by<ref>{{Cite web|url=https://theconversation.com/the-social-animals-that-are-inspiring-new-behaviours-for-robot-swarms-113584|title=The social animals that are inspiring new behaviours for robot swarms|last=Hunt|first=Edmund R.|date=2019-03-27|website=The Conversation|language=en-UK|access-date=2019-03-28}}</ref> the [[emergent behaviour]] observed in [[social insect]]s, called [[swarm intelligence]]. Relatively simple individual rules can produce a large set of complex [[swarm behaviour]]s. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
The research of swarm [[robotics]] is to study the design of robots, their physical body and their controlling [[behaviour]]s. It is inspired but not limited by<ref>{{Cite web|url=https://theconversation.com/the-social-animals-that-are-inspiring-new-behaviours-for-robot-swarms-113584|title=The social animals that are inspiring new behaviours for robot swarms|last=Hunt|first=Edmund R.|date=2019-03-27|website=The Conversation|language=en-UK|access-date=2019-03-28}}</ref> the [[emergent behaviour]] observed in [[social insect]]s, called [[swarm intelligence]]. Relatively simple individual rules can produce a large set of complex [[swarm behaviour]]s. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
The research of swarm robotics is to study the design of robots, their physical body and their controlling behaviours. It is inspired but not limited by the emergent behaviour observed in social insects, called swarm intelligence. Relatively simple individual rules can produce a large set of complex swarm behaviours. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
The research of swarm robotics is to study the design of robots, their physical body and their controlling behaviours. It is inspired but not limited by the emergent behaviour observed in social insects, called swarm intelligence. Relatively simple individual rules can produce a large set of complex swarm behaviours. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
集群机器人技术的研究是研究机器人的设计，其物理构造及其行为控制。它受到在群居昆虫（社会性昆虫）中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智能。相对简单的个体规则会产生大量复杂的群体行为。关键组成部分是建立持续反馈系统，由小组成员之间的沟通组成。群体行为涉及到个体间因合作而产生的不断变化，以及总体的行为。
Unlike distributed robotic systems in general, swarm robotics emphasizes a large number of robots, and promotes scalability, for instance by using only local communication. That local communication for example can be achieved by wireless transmission systems, like radio frequency or infrared.
Unlike distributed robotic systems in general, swarm robotics emphasizes a large number of robots, and promotes scalability, for instance by using only local communication. That local communication for example can be achieved by wireless transmission systems, like radio frequency or infrared.
与一般的分布式机器人系统不同，群体机器人技术强调大量的机器人并提高可扩展性，例如仅使用本地通信。该本地通信例如可以通过无线传输系统来实现，例如射频或红外。
== Goals and applications ==
== Goals and applications 目标与应用 ==
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow [[scalability]], making each member of the swarm less demanding of resources and more power/energy efficient.
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow [[scalability]], making each member of the swarm less demanding of resources and more power/energy efficient.
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow scalability, making each member of the swarm less demanding of resources and more power/energy efficient.
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow scalability, making each member of the swarm less demanding of resources and more power/energy efficient.
小型化和成本是集群机器人技术的关键因素。这些是构建大型机器人群体的限制；因此，应该强调单个团队成员的简单性。这应该激发一种群体智能方法，以在群体级别而非个人级别实现有意义的行为。针对单个机器人级别的简单性这一目标进行了大量研究。能够在集群机器人技术研究中使用实际硬件而不是在仿真中使用，可以使研究人员遇到并解决更多问题，并扩大集群研究的范围。因此，开发用于集群智能研究的简单机器人是该领域非常重要的方面。目标包括使单个机器人的成本保持较低以实现可扩展性，从而使集群中的每个成员对资源的需求更少，并提高功率/能源效率。
Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks; A swarm is more robust to partial swarm failure and is more flexible with regard to different missions
Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks; A swarm is more robust to partial swarm failure and is more flexible with regard to different missions
与单个机器人相比，集群机器人通常可以将其给定的任务分解为子任务；对于部分机器人指令失效的情况集群机器人更加稳定，并且在执行不同任务时更为灵活。
One such swarm system is the LIBOT Robotic System<ref>{{citation|doi=10.1109/CYBER.2012.6392577|chapter=Libot: Design of a low cost mobile robot for outdoor swarm robotics|title=2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)|pages=342–347|year=2012|last1=Zahugi|first1=Emaad Mohamed H.|last2=Shabani|first2=Ahmed M.|last3=Prasad|first3=T. V.|isbn=978-1-4673-1421-3}}</ref> that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings. Another such attempt is the micro robot (Colias),<ref>Arvin, F.; Murray, J.C.; Licheng Shi; Chun Zhang; Shigang Yue, "[https://www.researchgate.net/profile/Farshad_Arvin/publication/271545281_Development_of_an_autonomous_micro_robot_for_swarm_robotics/links/55e4bad008aede0b57357ed4.pdf Development of an autonomous micro robot for swarm robotics]," Mechatronics and Automation (ICMA), 2014 IEEE International Conference on , vol., no., pp.635,640, 3-6 Aug. 2014 doi: 10.1109/ICMA.2014.6885771</ref> built in the Computer Intelligence Lab at the [[University of Lincoln]], UK. This micro robot is built on a 4 cm circular chassis and is low-cost and open platform for use in a variety of Swarm Robotics applications.
One such swarm system is the LIBOT Robotic System<ref>{{citation|doi=10.1109/CYBER.2012.6392577|chapter=Libot: Design of a low cost mobile robot for outdoor swarm robotics|title=2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)|pages=342–347|year=2012|last1=Zahugi|first1=Emaad Mohamed H.|last2=Shabani|first2=Ahmed M.|last3=Prasad|first3=T. V.|isbn=978-1-4673-1421-3}}</ref> that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings. Another such attempt is the micro robot (Colias),<ref>Arvin, F.; Murray, J.C.; Licheng Shi; Chun Zhang; Shigang Yue, "[https://www.researchgate.net/profile/Farshad_Arvin/publication/271545281_Development_of_an_autonomous_micro_robot_for_swarm_robotics/links/55e4bad008aede0b57357ed4.pdf Development of an autonomous micro robot for swarm robotics]," Mechatronics and Automation (ICMA), 2014 IEEE International Conference on , vol., no., pp.635,640, 3-6 Aug. 2014 doi: 10.1109/ICMA.2014.6885771</ref> built in the Computer Intelligence Lab at the [[University of Lincoln]], UK. This micro robot is built on a 4 cm circular chassis and is low-cost and open platform for use in a variety of Swarm Robotics applications.
=== Applications ===
=== Applications 应用 ===
Potential applications for swarm robotics are many. They include tasks that demand [[miniaturization]] ([[nanorobotics]], [[microbotics]]), like distributed sensing tasks in [[micromachinery]] or the [[human body]]. One of the most promising uses of swarm robotics is in disaster rescue missions. Swarms of robots of different sizes could be sent to places rescue workers can't reach safely, to detect the presence of life via infra-red sensors. On the other hand, swarm robotics can be suited to tasks that demand cheap designs, for instance [[mining]] or agricultural [[foraging]] tasks.
Potential applications for swarm robotics are many. They include tasks that demand [[miniaturization]] ([[nanorobotics]], [[microbotics]]), like distributed sensing tasks in [[micromachinery]] or the [[human body]]. One of the most promising uses of swarm robotics is in disaster rescue missions. Swarms of robots of different sizes could be sent to places rescue workers can't reach safely, to detect the presence of life via infra-red sensors. On the other hand, swarm robotics can be suited to tasks that demand cheap designs, for instance [[mining]] or agricultural [[foraging]] tasks.
Potential applications for swarm robotics are many. They include tasks that demand miniaturization (nanorobotics, microbotics), like distributed sensing tasks in micromachinery or the human body. One of the most promising uses of swarm robotics is in disaster rescue missions. Swarms of robots of different sizes could be sent to places rescue workers can't reach safely, to detect the presence of life via infra-red sensors. On the other hand, swarm robotics can be suited to tasks that demand cheap designs, for instance mining or agricultural foraging tasks.
Potential applications for swarm robotics are many. They include tasks that demand miniaturization (nanorobotics, microbotics), like distributed sensing tasks in micromachinery or the human body. One of the most promising uses of swarm robotics is in disaster rescue missions. Swarms of robots of different sizes could be sent to places rescue workers can't reach safely, to detect the presence of life via infra-red sensors. On the other hand, swarm robotics can be suited to tasks that demand cheap designs, for instance mining or agricultural foraging tasks.
集群机器人技术的潜在应用很多。它们包括具有微型化需求的任务（纳米机器人，微生物学），比如微型机械或人体中的分布式传感任务。集群机器人技术最有前途的应用之一是在灾难救援任务中。大量不同尺寸的机器人可以被送到救援人员无法安全到达的地方，通过红外传感器探测生命的存在。另一方面，集群机器人技术可以适合需要廉价设计的任务，例如采矿或农业采掘任务。
More controversially, swarms of military robots can form an autonomous army. U.S. Naval forces have tested a swarm of autonomous boats that can steer and take offensive actions by themselves. The boats are unmanned and can be fitted with any kind of kit to deter and destroy enemy vessels.
More controversially, swarms of military robots can form an autonomous army. U.S. Naval forces have tested a swarm of autonomous boats that can steer and take offensive actions by themselves. The boats are unmanned and can be fitted with any kind of kit to deter and destroy enemy vessels.
更有争议的是，军事集群机器人可以组成一支自主部队。美国海军已经对一大批可以自行操纵并采取进攻行动的自主舰艇进行了测试。这些船是无人驾驶的，可以安装任何种类的工具来威慑和摧毁敌方船只。
During the Syrian Civil War, Russian forces in the region reported attacks on their main air force base in the country by swarms of fixed-wing drones loaded with explosives.
During the Syrian Civil War, Russian forces in the region reported attacks on their main air force base in the country by swarms of fixed-wing drones loaded with explosives.
在叙利亚内战期间，该地区的俄罗斯部队报告指出，该国主要空军基地遭到装有炸药的固定翼无人机群袭击。
Most efforts have focused on relatively small groups of machines. However, a swarm consisting of 1,024 individual robots was demonstrated by Harvard in 2014, the largest to date.<ref>{{cite web |title=A self-organizing thousand-robot swarm |url=http://www.seas.harvard.edu/news/2014/08/self-organizing-thousand-robot-swarm |work=Harvard |date=14 August 2014 |accessdate=16 August 2014 }}</ref>
Most efforts have focused on relatively small groups of machines. However, a swarm consisting of 1,024 individual robots was demonstrated by Harvard in 2014, the largest to date.<ref>{{cite web |title=A self-organizing thousand-robot swarm |url=http://www.seas.harvard.edu/news/2014/08/self-organizing-thousand-robot-swarm |work=Harvard |date=14 August 2014 |accessdate=16 August 2014 }}</ref>
大多数研究成果都集中在相对小规模的集群机体上。然而，哈佛大学在2014年展示了由1,024个机器人组成的群体，这是迄今为止规模最大的群体。
大多数研究成果都集中在相对小规模的集群机体上。然而，哈佛大学在2014年展示了由1,024个机器人组成的群体，这是迄今为止规模最大的群体。
Another large set of applications may be solved using swarms of [[micro air vehicle]]s, which are also broadly investigated nowadays. In comparison with the pioneering studies of swarms of flying robots using precise [[motion capture]] systems in laboratory conditions,<ref>Kushleyev, A.; Mellinger, D.; Powers, C.; Kumar, V., "[https://pdfs.semanticscholar.org/b063/239bd450038531eeb2db5466eaed34a0f9a0.pdf Towards a swarm of agile micro quadrotors]" Autonomous Robots, Volume 35, Issue 4, pp 287-300, November 2013</ref> current systems such as [[Shooting Star (drone)|Shooting Star]] can control teams of hundreds of micro aerial vehicles in outdoor environment<ref>Vasarhelyi, G.; Virágh, C.; Tarcai, N.; Somorjai, G.; Vicsek, T. [https://arxiv.org/pdf/1402.3588 Outdoor flocking and formation flight with autonomous aerial robots]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014</ref> using [[Satellite navigation|GNSS]] systems (such as GPS) or even stabilize them using onboard [[robot localization|localization]] systems<ref>Faigl, J.; Krajnik, T.; Chudoba, J.; Preucil, L.; Saska, M. [http://eprints.lincoln.ac.uk/13799/1/__ddat02_staffhome_jpartridge_camera_2013_ICRA.pdf Low-Cost Embedded System for Relative Localization in Robotic Swarms]. In ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation. 2013.</ref> where GPS is unavailable.<ref>Saska, M.; Vakula, J.; Preucil, L. [https://ieeexplore.ieee.org/abstract/document/6907374/ Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization]. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014.</ref><ref>Saska, M. [https://www.researchgate.net/profile/Martin_Saska/publication/282922149_MAV-swarms_Unmanned_aerial_vehicles_stabilized_along_a_given_path_using_onboard_relative_localization/links/5684f75b08ae19758394dcdf.pdf MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization]. In Proceedings of 2015 International Conference on Unmanned Aircraft Systems (ICUAS). 2015</ref> Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance,<ref>Saska, M.; Chudoba, J.; Preucil, L.; Thomas, J.; Loianno, G.; Tresnak, A.; Vonasek, V.; Kumar, V. [https://ieeexplore.ieee.org/abstract/document/6842301/ Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance]. In Proceedings of 2014 International Conference on Unmanned Aircraft Systems (ICUAS). 2014.</ref> plume tracking,<ref>Saska, M.; Langr J.; L. Preucil. [https://www.researchgate.net/profile/Martin_Saska/publication/290558108_Plume_Tracking_by_a_Self-stabilized_Group_of_Micro_Aerial_Vehicles/links/57040e7908ae74a08e245eeb.pdf Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles]. In Modelling and Simulation for Autonomous Systems, 2014.</ref> and reconnaissance in a compact phalanx.<ref>Saska, M.; Kasl, Z.; Preucil, L. [http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2014/media/files/2295.pdf Motion Planning and Control of Formations of Micro Aerial Vehicles]. In Proceedings of the 19th World Congress of the International Federation of Automatic Control. 2014.</ref> Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach]. In Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012.</ref> [[simultaneous localization and mapping]],<ref>Chung, Soon-Jo, et al. "[https://authors.library.caltech.edu/87925/1/tro-aerial-robotics_final.pdf A survey on aerial swarm robotics]." IEEE Transactions on Robotics 34.4 (2018): 837-855.</ref> convoy protection,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://eprints.lincoln.ac.uk/14891/1/formations_2014_IJRR.pdf Coordination and Navigation of Heterogeneous MAV–UGV Formations Localized by a ‘hawk-eye’-like Approach Under a Model Predictive Control Scheme]. International Journal of Robotics Research 33(10):1393–1412, September 2014.</ref> and moving target localization and tracking.<ref>Kwon, H; Pack, D. J. [https://link.springer.com/article/10.1007/s10846-011-9581-5 A Robust Mobile Target Localization Method for Cooperative Unmanned Aerial Vehicles Using Sensor Fusion Quality]. Journal of Intelligent and Robotic Systems, Volume 65, Issue 1, pp 479-493, January 2012.</ref>
Another large set of applications may be solved using swarms of [[micro air vehicle]]s, which are also broadly investigated nowadays. In comparison with the pioneering studies of swarms of flying robots using precise [[motion capture]] systems in laboratory conditions,<ref>Kushleyev, A.; Mellinger, D.; Powers, C.; Kumar, V., "[https://pdfs.semanticscholar.org/b063/239bd450038531eeb2db5466eaed34a0f9a0.pdf Towards a swarm of agile micro quadrotors]" Autonomous Robots, Volume 35, Issue 4, pp 287-300, November 2013</ref> current systems such as [[Shooting Star (drone)|Shooting Star]] can control teams of hundreds of micro aerial vehicles in outdoor environment<ref>Vasarhelyi, G.; Virágh, C.; Tarcai, N.; Somorjai, G.; Vicsek, T. [https://arxiv.org/pdf/1402.3588 Outdoor flocking and formation flight with autonomous aerial robots]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014</ref> using [[Satellite navigation|GNSS]] systems (such as GPS) or even stabilize them using onboard [[robot localization|localization]] systems<ref>Faigl, J.; Krajnik, T.; Chudoba, J.; Preucil, L.; Saska, M. [http://eprints.lincoln.ac.uk/13799/1/__ddat02_staffhome_jpartridge_camera_2013_ICRA.pdf Low-Cost Embedded System for Relative Localization in Robotic Swarms]. In ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation. 2013.</ref> where GPS is unavailable.<ref>Saska, M.; Vakula, J.; Preucil, L. [https://ieeexplore.ieee.org/abstract/document/6907374/ Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization]. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014.</ref><ref>Saska, M. [https://www.researchgate.net/profile/Martin_Saska/publication/282922149_MAV-swarms_Unmanned_aerial_vehicles_stabilized_along_a_given_path_using_onboard_relative_localization/links/5684f75b08ae19758394dcdf.pdf MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization]. In Proceedings of 2015 International Conference on Unmanned Aircraft Systems (ICUAS). 2015</ref> Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance,<ref>Saska, M.; Chudoba, J.; Preucil, L.; Thomas, J.; Loianno, G.; Tresnak, A.; Vonasek, V.; Kumar, V. [https://ieeexplore.ieee.org/abstract/document/6842301/ Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance]. In Proceedings of 2014 International Conference on Unmanned Aircraft Systems (ICUAS). 2014.</ref> plume tracking,<ref>Saska, M.; Langr J.; L. Preucil. [https://www.researchgate.net/profile/Martin_Saska/publication/290558108_Plume_Tracking_by_a_Self-stabilized_Group_of_Micro_Aerial_Vehicles/links/57040e7908ae74a08e245eeb.pdf Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles]. In Modelling and Simulation for Autonomous Systems, 2014.</ref> and reconnaissance in a compact phalanx.<ref>Saska, M.; Kasl, Z.; Preucil, L. [http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2014/media/files/2295.pdf Motion Planning and Control of Formations of Micro Aerial Vehicles]. In Proceedings of the 19th World Congress of the International Federation of Automatic Control. 2014.</ref> Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach]. In Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012.</ref> [[simultaneous localization and mapping]],<ref>Chung, Soon-Jo, et al. "[https://authors.library.caltech.edu/87925/1/tro-aerial-robotics_final.pdf A survey on aerial swarm robotics]." IEEE Transactions on Robotics 34.4 (2018): 837-855.</ref> convoy protection,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://eprints.lincoln.ac.uk/14891/1/formations_2014_IJRR.pdf Coordination and Navigation of Heterogeneous MAV–UGV Formations Localized by a ‘hawk-eye’-like Approach Under a Model Predictive Control Scheme]. International Journal of Robotics Research 33(10):1393–1412, September 2014.</ref> and moving target localization and tracking.<ref>Kwon, H; Pack, D. J. [https://link.springer.com/article/10.1007/s10846-011-9581-5 A Robust Mobile Target Localization Method for Cooperative Unmanned Aerial Vehicles Using Sensor Fusion Quality]. Journal of Intelligent and Robotic Systems, Volume 65, Issue 1, pp 479-493, January 2012.</ref>
Another large set of applications may be solved using swarms of micro air vehicles, which are also broadly investigated nowadays. In comparison with the pioneering studies of swarms of flying robots using precise motion capture systems in laboratory conditions, current systems such as Shooting Star can control teams of hundreds of micro aerial vehicles in outdoor environment using GNSS systems (such as GPS) or even stabilize them using onboard localization systems where GPS is unavailable. Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance, plume tracking, and reconnaissance in a compact phalanx. Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring, simultaneous localization and mapping, convoy protection, and moving target localization and tracking.
Another large set of applications may be solved using swarms of micro air vehicles, which are also broadly investigated nowadays. In comparison with the pioneering studies of swarms of flying robots using precise motion capture systems in laboratory conditions, current systems such as Shooting Star can control teams of hundreds of micro aerial vehicles in outdoor environment using GNSS systems (such as GPS) or even stabilize them using onboard localization systems where GPS is unavailable. Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance, plume tracking, and reconnaissance in a compact phalanx. Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring, simultaneous localization and mapping, convoy protection, and moving target localization and tracking.
使用微型飞行器集群可以解决另一套广泛的应用，这在当今也得到了广泛的研究。在实验室条件下，相比较于使用精密运动捕捉系统对飞行机器集群进行开创性研究，当前的系统（例如射星系统），则可以使用GNSS全球导航卫星系统（例如GPS全球定位系统）在室外环境中控制数百辆微型飞机的集群，甚至可以使用GPS无法做到的机载定位系统来稳定它们。成群的微型飞行器已经可以在密集方阵中进行自主监视、羽毛跟踪以及侦察任务中进行测试。在协同无人驾驶地面和空中飞行器集群的大量工作中，已经涉及应用包括了：协同环境监测、即时定位与制图、车队保护、运动目标定位以及跟踪。
==Drone displays==
== Drone displays 无人机显示器 ==
{{main|Drone display}}
{{main|Drone display}}
无人机显示器通常在夜间使用多个点亮的无人机进行艺术展示或广告宣传。
无人机显示器通常在夜间使用多个点亮的无人机进行艺术展示或广告宣传。
== In popular culture 大众文化 ==
== In popular culture 大众文化 ==
A major subplot of Disney's Big Hero 6 involved the use of swarms of microbots to form structures.
A major subplot of Disney's Big Hero 6 involved the use of swarms of microbots to form structures.
迪士尼《超能陆战队》中有一个情节涉及使用成群的微型机器人来构建场景。
在泰米尔语电影《恩蒂伦》及其续集2.0中使用了集群机器人技术。
在泰米尔语电影《恩蒂伦》及其续集2.0中使用了集群机器人技术。
==See also==
== See also 相关内容 ==
*[[Ant robotics 蚁群机器人]]
*[[Ant robotics 蚁群机器人]]
==External links==
== External links 其他链接 ==
* [https://www.youtube.com/watch?v=JzbWV1sfZ-A Fully decentralized robotic swarm performing collective search and exploration – Applied Complexity Group and Motion, Energy Control Lab at SUTD ]
* [https://www.youtube.com/watch?v=JzbWV1sfZ-A Fully decentralized robotic swarm performing collective search and exploration – Applied Complexity Group and Motion, Energy Control Lab at SUTD ]