集群机器人

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Swarm of open-source Jasmine micro-robots recharging themselves

Swarm of open-source Jasmine micro-robots recharging themselves

一大群[开源茉莉微型机器人自我充电]

A team of iRobot Create robots at the Georgia Institute of Technology

A team of iRobot Create robots at the Georgia Institute of Technology

一个由[ iRobot 在乔治亚理工学院制造机器人]组成的团队


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.

群机器人技术是一种将多个机器人作为一个由大量简单物理机器人组成的系统进行协调的方法。人们认为，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，会产生一种期望的集体行为。这种方法出现在人工群体智能领域，以及昆虫、蚂蚁和自然界中发生群体行为的其他领域的生物学研究中。


Definition

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[1] 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.

群机器人的研究是研究机器人的设计，它们的身体和它们的控制行为。它受到社会昆虫中观察到的突发行为的启发，但不受其限制，这种突发行为被称为群体智能。相对简单的个体规则可以产生大量复杂的群体行为。其中一个关键组成部分是建立一个不断反馈系统的小组成员之间的沟通。群体行为包括个体在与他人合作中的不断变化，以及整个群体的行为。


Unlike distributed robotic systems in general, swarm robotics emphasizes a large number of robots, and promotes scalability, for instance by using only local communication.[2] That local communication for example can be achieved by wireless transmission systems, like radio frequency or infrared.[3]

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，群机器人强调大量的机器人，并提高可扩展性，例如仅使用本地通信。例如，本地通信可以通过无线传输系统实现，如射频或红外线。


Goals and applications

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.
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.
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.

小型化和成本是蜂群机器人的关键因素。这些是构建大型机器人组时的约束条件; 因此，应该强调单个团队成员的简单性。这应该激励一个群体智慧的方法，以实现有意义的行为在群体水平，而不是个人水平。许多研究都是针对个体机器人水平的简单化目标。能够使用实际的硬件进行 Swarm Robotics 的研究而不是仿真，使研究人员能够遇到和解决更多的问题，并扩大了 Swarm 研究的范围。因此，为群体智能的研究开发简单的机器人是这个领域的一个非常重要的方面。这些目标包括降低单个机器人的成本，以实现可扩展性，降低群体中每个成员对资源的要求，提高能源 / 能源效率。


One such swarm system is the LIBOT Robotic System[4] 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),[5] 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 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), 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.

一个这样的群系统是 LIBOT 机器人系统，包括一个低成本的机器人建立户外群机器人。由于 GPS 传感器在建筑物内部通信不畅，这些机器人还可以通过 Wi-Fi 在室内使用。另一个这样的尝试是微型机器人(colas) ，由英国林肯大学计算机智能实验室制造。这种微型机器人是建立在一个4厘米的圆形底盘，是低成本和开放的平台，用于各种群机器人应用。


Applications

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.

群机器人技术的潜在应用有很多。它们包括需要微型化的任务(纳米机器人、微生物学) ，比如微型机械或人体的分布式传感任务。群机器人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，群机器人可以适合需要廉价设计的任务，例如采矿或农业觅食任务。


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.[6]

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，成群的军用机器人可以组成一支自主的军队。美国。海军部队已经测试了一群自动驾驶的船只，这些船只可以自己驾驶并采取进攻行动。这些船只是无人驾驶的，可以配备任何装备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.[7]

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，该地区的俄罗斯军队报告称，他们在该国的主要空军基地遭到大量装载炸药的固定翼无人机的袭击。


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.[8]

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.

大多数工作都集中在相对较小的机器组上。然而，哈佛大学在2014年展示了一个由1024个独立机器人组成的群体，这是迄今为止最大的一次。


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,[9] current systems such as Shooting Star can control teams of hundreds of micro aerial vehicles in outdoor environment[10] using GNSS systems (such as GPS) or even stabilize them using onboard localization systems[11] where GPS is unavailable.[12][13] Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance,[14] plume tracking,[15] and reconnaissance in a compact phalanx.[16] Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring,[17] simultaneous localization and mapping,[18] convoy protection,[19] and moving target localization and tracking.[20]

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.

另一个大的应用集可以解决使用微型飞行器群，这也是广泛的研究现在。与在实验室条件下使用精确运动捕捉系统的成群飞行机器人的开创性研究相比，目前的系统，如射星系统，可以使用全球导航卫星系统(如全球定位系统)在室外环境中控制数百架微型飞行器，甚至在没有全球定位系统的情况下使用板载定。成群的微型飞行器已经在自动监视、羽毛跟踪和密集方阵侦察任务中进行了测试。无人驾驶地面和空中飞行器群协同工作已经进行了大量的工作，目标应用包括协同环境监测、即时定位与地图构建、车队保护、运动目标定位和跟踪。


Drone displays

Main article: Drone display

A drone display commonly uses multiple, lighted drones at night for an artistic display or advertising.

A drone display commonly uses multiple, lighted drones at night for an artistic display or advertising.

无人机展示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

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.

迪斯尼的大英雄6的一个主要次要情节是使用大量的微型机器人形成结构。


Swarm robotics is used in the Tamil film, Enthiran, and its sequel 2.0.

Swarm robotics is used in the Tamil film, Enthiran, and its sequel 2.0.

在泰米尔电影《 Enthiran 》及其续集2.0中使用了机器人群。


See also

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References

  1. ↑ Hunt, Edmund R. (2019-03-27). "The social animals that are inspiring new behaviours for robot swarms". The Conversation (in English). Retrieved 2019-03-28.
  2. ↑ Hamann, H. (2018). Swarm Robotics: A Formal Approach. New York: Springer International Publishing. ISBN 978-3-319-74528-2. https://books.google.com/books?id=pnNLDwAAQBAJ. 
  3. ↑ N. Correll, D. Rus. Architectures and control of networked robotic systems. In: Serge Kernbach (Ed.): Handbook of Collective Robotics, pp. 81-104, Pan Stanford, Singapore, 2013.
  4. ↑ Zahugi, Emaad Mohamed H.; Shabani, Ahmed M.; Prasad, T. V. (2012), "Libot: Design of a low cost mobile robot for outdoor swarm robotics", 2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), pp. 342–347, doi:10.1109/CYBER.2012.6392577, ISBN 978-1-4673-1421-3
  5. ↑ Arvin, F.; Murray, J.C.; Licheng Shi; Chun Zhang; Shigang Yue, "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
  6. ↑ Lendon, Brad. "U.S. Navy could 'swarm' foes with robot boats". CNN.
  7. ↑ Madrigal, Alexis C. (2018-03-07). "Drone Swarms Are Going to Be Terrifying and Hard to Stop". The Atlantic (in English). Retrieved 2019-03-07.
  8. ↑ "A self-organizing thousand-robot swarm". Harvard. 14 August 2014. Retrieved 16 August 2014.
  9. ↑ Kushleyev, A.; Mellinger, D.; Powers, C.; Kumar, V., "Towards a swarm of agile micro quadrotors" Autonomous Robots, Volume 35, Issue 4, pp 287-300, November 2013
  10. ↑ Vasarhelyi, G.; Virágh, C.; Tarcai, N.; Somorjai, G.; Vicsek, T. Outdoor flocking and formation flight with autonomous aerial robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014
  11. ↑ Faigl, J.; Krajnik, T.; Chudoba, J.; Preucil, L.; Saska, M. Low-Cost Embedded System for Relative Localization in Robotic Swarms. In ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation. 2013.
  12. ↑ Saska, M.; Vakula, J.; Preucil, L. Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014.
  13. ↑ Saska, M. 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
  14. ↑ Saska, M.; Chudoba, J.; Preucil, L.; Thomas, J.; Loianno, G.; Tresnak, A.; Vonasek, V.; Kumar, V. Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance. In Proceedings of 2014 International Conference on Unmanned Aircraft Systems (ICUAS). 2014.
  15. ↑ Saska, M.; Langr J.; L. Preucil. Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles. In Modelling and Simulation for Autonomous Systems, 2014.
  16. ↑ Saska, M.; Kasl, Z.; Preucil, L. 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.
  17. ↑ Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. 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.
  18. ↑ Chung, Soon-Jo, et al. "A survey on aerial swarm robotics." IEEE Transactions on Robotics 34.4 (2018): 837-855.
  19. ↑ Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. 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.
  20. ↑ Kwon, H; Pack, D. J. 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.


External links


模板:Collective animal behaviour

模板:Robotics

模板:Emerging technologies

Category:Multi-robot systems

类别: 多机器人系统

Category:Emerging technologies

类别: 新兴技术


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