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→目标与应用
集群系统的一个例子是一个用于户外的低成本的机器人组成的机器人群体，叫做'''LIBOT机器人系统 LIBOT Robotic System'''的集群机器人。<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>由于GPS传感器在建筑物内部通讯不畅，这些机器人同时配备了Wi-Fi设备。另外一个进行此类尝试的是个叫做'''<font color="#ff8000"> Colias</font>'''的微型机器人，<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>该机器人由英国林肯大学的计算机智能实验室研发。这款微型机器人建立在4厘米的圆形底盘上，其低成本和开放的平台使它兼容于各种集群机器人的应用。
集群系统的一个例子是一个用于户外的低成本的机器人组成的机器人群体，叫做'''LIBOT机器人系统 LIBOT Robotic System'''的集群机器人。<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>由于GPS传感器在建筑物内部通讯不畅，这些机器人同时配备了Wi-Fi设备。另外一个进行此类尝试的是个叫做''' Colias'''的微型机器人，<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>该机器人由英国林肯大学的计算机智能实验室研发。这款微型机器人建立在4厘米的圆形底盘上，其低成本和开放的平台使它兼容于各种集群机器人的应用。
通过集群飞行器还可以解决另一大类应用，该主题目前也得到了非常广泛的研究。在实验室条件下，<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>相比较于过去使用的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（Galeru Nagari Sujala Sravanthi Project, 如GPS全球定位系统）在室外环境条件下，<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>控制数百台微型飞机集群，甚至可以使用GPS无法做到的机载定位系统<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>来稳定它们。<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>成群的微型飞行器已经可以在密集方阵中进行自主监视、<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>羽毛跟踪<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>以及侦察任务中进行测试。<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>在协同无人驾驶地面和空中飞行器集群的大量工作中，已经涉及的应用包括：协同环境监测、<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>即时定位与制图、<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>车队保护、<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>运动目标定位以及跟踪。<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>
通过集群飞行器还可以解决另一大类应用，该主题目前也得到了非常广泛的研究。在实验室条件下，<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>相比较于过去使用的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（Galeru Nagari Sujala Sravanthi Project, 如GPS全球定位系统）在室外环境条件下，<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>控制数百台微型飞机集群，甚至可以使用GPS无法做到的机载定位系统<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>来稳定它们。<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>成群的微型飞行器已经可以在密集方阵中进行自主监视、<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>羽毛跟踪<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>以及侦察任务中进行测试。<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>在协同无人驾驶地面和空中飞行器集群的大量工作中，已经涉及的应用包括：协同环境监测、<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>即时定位与制图、<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>车队保护、<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>运动目标定位以及跟踪。<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>
== 无人机显示器 ==
== 无人机显示器 ==